Path tracking performed by multiple chassis actuators remains a significant yet challenging issue in intelligent vehicles.This paper presents a robust optimal path tracking control for intelligent vehicles equipped wi...Path tracking performed by multiple chassis actuators remains a significant yet challenging issue in intelligent vehicles.This paper presents a robust optimal path tracking control for intelligent vehicles equipped with a novel wheel module.A wheel module,named corner drive system(CDS),is proposed by integrating drive,brake,steering,and suspension subsystems.In light of the multi-actuator-integrate characteristic of the CDS,a reconfigurable concept is adopted to carry out the vehicle dynamics modeling.To realize an invariance system for both parametric and nonparametric uncertainties,an integral sliding mode control(ISMC)scheme is devised for desired path tracking by combining the advantages of linear quadratic regulator(LQR)in optimization and SMC in robustness.The chattering problem of the ISMC is analyzed and two continuous controllers for chattering elimination are proposed.A control allocation strategy is proposed to dynamically assign the virtual inputs generated by ISMC among four wheels to optimize vehicle stability and minimize energy dissipation.The superiority of the proposed control scheme is demonstrated under different chassis layouts,road friction conditions,and benchmark controllers on a CarSim-based high-fidelity vehicle model with simulation comparison.Subsequently,the Hardware-in-the-Loop(HiL)test is carried out to further evaluate the feasibility and real-time control performance.The quantitative results demonstrate the path tracking performance of the proposed robust optimal controller under both parametric and nonparametric uncertainties.展开更多
基金supported by the“Beijing Natural Science Foundation”under Grant L233039“Pioneer and Leading Goose R&D Program of Zhejiang”under Grant 2023C01133“Key R&D Program of Ningbo”under Grant 2023Z014.
文摘Path tracking performed by multiple chassis actuators remains a significant yet challenging issue in intelligent vehicles.This paper presents a robust optimal path tracking control for intelligent vehicles equipped with a novel wheel module.A wheel module,named corner drive system(CDS),is proposed by integrating drive,brake,steering,and suspension subsystems.In light of the multi-actuator-integrate characteristic of the CDS,a reconfigurable concept is adopted to carry out the vehicle dynamics modeling.To realize an invariance system for both parametric and nonparametric uncertainties,an integral sliding mode control(ISMC)scheme is devised for desired path tracking by combining the advantages of linear quadratic regulator(LQR)in optimization and SMC in robustness.The chattering problem of the ISMC is analyzed and two continuous controllers for chattering elimination are proposed.A control allocation strategy is proposed to dynamically assign the virtual inputs generated by ISMC among four wheels to optimize vehicle stability and minimize energy dissipation.The superiority of the proposed control scheme is demonstrated under different chassis layouts,road friction conditions,and benchmark controllers on a CarSim-based high-fidelity vehicle model with simulation comparison.Subsequently,the Hardware-in-the-Loop(HiL)test is carried out to further evaluate the feasibility and real-time control performance.The quantitative results demonstrate the path tracking performance of the proposed robust optimal controller under both parametric and nonparametric uncertainties.
