摘要
提出一种基于凸多面体方法的鲁棒性静态反馈紧急工况轨迹跟踪策略.使用侧向位移误差和车辆横摆角误差建立车辆轨迹跟踪模型.针对车辆紧急避让中车辆动态特性高度非线性的问题,使用凸多面体方法建立车辆轨迹跟踪的鲁棒性控制策略.通过Matlab和Carsim软件的联合仿真表明,本文的车辆轨迹跟踪策略具有较为良好的性能和鲁棒性.
In this paper, a robust static feedback emergency trajectory following strategy based on polytope method was proposed. The vehicle trajectory following model by using the lateral displacement error and the vehicle yaw angle error was studied. To deal with the nonlinear vehicle dynamic response properties during emergency avoidance, the robust control strategy based on polytope method was presented. Simulations based on Matlab and Carsim joint platform demonstrate that the robust trajectory following strategy is effective and efficient.
出处
《同济大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2017年第11期1659-1663,共5页
Journal of Tongji University:Natural Science
基金
国家重点研发计划(2016YFB0100904-2)
上海市科技成果转化和产业化项目(15DZ1100800)
关键词
轨迹跟踪
鲁棒控制
凸多面体
线性矩阵不等式
trajectory following
robust control
polytope
linear matrix inequality
