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双闭环结构的智能车辆弯路换道轨迹跟踪控制
Alternative TitleLane Changing Trajectory Tracking Control Based on Double Closed-Loop Structure for Intelligent Vehicle Driving on Curved Road
郭烈; 张荣辉; 葛平淑; 任泽建; 黄晓慧
2014
Source Publication汽车工程学报
ISSN2095-1469
Volume4Issue:4Pages:245-252
Abstract为提高智能车辆弯道换道的安全性能,对其换道轨迹跟踪控制进行了研究.考虑到纵向速度、横向速度及横摆角速度对换道过程的影响,建立了非完整约束条件下车辆的运动学和动力学模型.基于积分反演方法设计了外环车辆位姿控制器,将换道轨迹跟踪问题转换为在任意初始误差下跟踪参考位姿问题,基于非线性积分滑模控制方法设计了内环的动力学控制器,实现了对车辆运行速度的跟踪,分析了该控制系统的稳定性和收敛性.仿真结果表明,所建立的控制系统可保证跟踪误差全局一致有界收敛,具有较快的收敛性和对时变参数不确定性的鲁棒性.
Keyword智能车辆 轨迹跟踪 双闭环结构 积分反演法 积分滑模控制
Document Type期刊论文
Identifierhttp://ir.xjipc.cas.cn/handle/365002/3659
Collection多语种信息技术研究室
Affiliation大连理工大学汽车工程学院;中国科学院新疆理化技术研究所;大连民族学院机电信息工程学院
Recommended Citation
GB/T 7714
郭烈,张荣辉,葛平淑,等. 双闭环结构的智能车辆弯路换道轨迹跟踪控制[J]. 汽车工程学报,2014,4(4):245-252.
APA 郭烈,张荣辉,葛平淑,任泽建,&黄晓慧.(2014).双闭环结构的智能车辆弯路换道轨迹跟踪控制.汽车工程学报,4(4),245-252.
MLA 郭烈,et al."双闭环结构的智能车辆弯路换道轨迹跟踪控制".汽车工程学报 4.4(2014):245-252.
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