Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to...Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.展开更多
Coupled trajectory and attitude stability of displaced solar orbits is studied by using sailcraft with a kind of two-folding construction with two unequal rectangular plates forming a right angle. Three-dimensional co...Coupled trajectory and attitude stability of displaced solar orbits is studied by using sailcraft with a kind of two-folding construction with two unequal rectangular plates forming a right angle. Three-dimensional coupled trajectory and attitude equations are developed for the coupled dynamical system, and the results show that all three types of displaced solar orbits widely referenced can be achieved through selecting an appropriate size of the two-folding sail. An anal- ysis of the corresponding linear stability of the trajectory and attitude coupled system is carried out, and both trajectory and attitude linearly stable orbits are found to exist in a small range of parameters, whose non-linear stability is then examined via numerical simulations. Finally, passively stable orbits are found to have weak stability, and such passive means of station-keeping are attractive and useful in practice because of its simplicity.展开更多
The stabilization and trajectory tracking problems of autonomous airship＇s planar motion are studied. By defining novel configuration error and velocity error, the dynamics of error systems are derived. By applying L...The stabilization and trajectory tracking problems of autonomous airship＇s planar motion are studied. By defining novel configuration error and velocity error, the dynamics of error systems are derived. By applying Lyapunov stability method, the state feedback control laws are designed and the close-loop error systems are proved to be uniformly asymptotically stable by Matrosov theorem. In particular, the controller does not need knowledge on system parameters in the case of set-point stabilization, which makes the controller robust with respect to parameter uncertainty. Numerical simulations illustrate the effectiveness of the controller designed.展开更多
National nature reserves are an important part of classification management on ecological protection in China. Taking the national nature reserves of Jilin Province as examples, this paper introduced the stability ind...National nature reserves are an important part of classification management on ecological protection in China. Taking the national nature reserves of Jilin Province as examples, this paper introduced the stability index by referring to the intensity model of landuse and land-cover change(LUCC), and analyzed the overall stability of land-use and land-cover(LULC) in the study area from the time interval level and land category level. The stability of LULC in different types of nature reserves was tracked and identified by extracting land-use change trajectory, and the land-use change trajectory was divided into three types: stable type, sub-stable type and unstable type. The impact of LUCC on regional ecosystem services was studied by using hotspot analysis and gravity center analysis. The results showed that: 1) The LULC in the study area was stable on the whole, and the proportion of stable land area reached 86.08%. The intensity of LUCC showed an increasing trend in recent 20 years, and the conversion of cultivated land and construction land was active in continuous time interval. 2) The stability of LULC in forest ecological reserves and wildlife reserves in the eastern part of Jilin Province was the highest, while that in inland wetland reserves and geological relic reserves in the central and western part of Jilin Province was lower.3) The LUCC in national nature reserves not only changed the value of its own ecosystem service function, but also affected the ecosystem service function of the whole region. The combination of intensity analysis and land-use change trajectory was used to identify the characteristics of stability of LULC in nature reserves, which was conducive to deeply understand the process of LUCC in national nature reserves and provided reasonable suggestions for regional ecological protection.展开更多
Based on the stability theory, numerical simulations and theoretical calculations are performed for a projectile with wrap-around fins. Its stability is analyzed and the flow field is simulated with computational flui...Based on the stability theory, numerical simulations and theoretical calculations are performed for a projectile with wrap-around fins. Its stability is analyzed and the flow field is simulated with computational fluid dynamics method. Consequently, the pitching moment coefficient of the projectile is further investigated under the conditions of Mach number ranging from 0.3 to 0.8, attack angle from 0 to 8° and yaw angle from 0 to 4°. A trajectory equation is established and its trajectory characteristics are also explored. All the results of theoretical analysis, numerical simulation and trajectory equation agree well with each other, which indicates the projectile is flying steadily at the given conditions. These results provide an effective way for judging the stability of the projectile with wrap-around fins.展开更多
This study is dedicated to the development of a direct optimal control-based algorithm for trajectory optimization problems that accounts for the closed-loop stability of the trajectory tracking error dynamics already...This study is dedicated to the development of a direct optimal control-based algorithm for trajectory optimization problems that accounts for the closed-loop stability of the trajectory tracking error dynamics already during the optimization.Consequently,the trajectory is designed such that the Linear Time-Varying(LTV)dynamic system,describing the controller’s error dynamics,is stable,while additionally the desired optimality criterion is optimized and all enforced constraints on the trajectory are fulfilled.This is achieved by means of a Lyapunov stability analysis of the LTV dynamics within the optimization problem using a time-dependent,quadratic Lyapunov function candidate.Special care is taken with regard to ensuring the correct definiteness of the ensuing matrices within the Lyapunov stability analysis,specifically considering a numerically stable formulation of these in the numerical optimization.The developed algorithm is applied to a trajectory design problem for which the LTV system is part of the path-following error dynamics,which is required to be stable.The main benefit of the proposed scheme in this context is that the designed trajectory trades-off the required stability and robustness properties of the LTV dynamics with the optimality of the trajectory already at the design phase and thus,does not produce unstable optimal trajectories the system must follow in the real application.展开更多
Torsional micromirror devices have been widely used in micro displays,RF switches,optical communications,and optical coherence tomography systems.In order to study the stability of electrostatically driven torsional m...Torsional micromirror devices have been widely used in micro displays,RF switches,optical communications,and optical coherence tomography systems.In order to study the stability of electrostatically driven torsional micromirror system with double bottom plates and two voltage sources,a dimensionless,two degrees of freedom(2-DoF)dynamic model was constructed.Governed by the dimensionless phase space model equation,the pull-in and bifurcation phenomena were analyzed using the Hamiltonian method and numerical simulation.In particular,the influence of the damping coefficient and the torsion-bending coupling effect on the phase trajectory was investigated.Furthermore,the conditions that can lead to pull-in were numerically determined for saddle-node,pitchfork and Hopf bifurcations in the framework of 2-DoF system.Result showed that the dynamic pull-in voltage as predicted by the proposed 2-DoF system model is considerably lower than that by the one degree of freedom(1-DoF)system model.It was also confirmed that the pull-in voltage varies with the damping coefficient and/or the ratio of the two voltages applied to the bottom plates of the micromirror.The modelling method and stability analysis presented in this paper shall provide valuable insight to the design and control of electrostatically actuated micromirror systems.展开更多
The continuation power flow method combined with the Jacobi-Davidson method is presented to trace the critical eigenvalues for power system small signal stability analysis. The continuation power flow based on a predi...The continuation power flow method combined with the Jacobi-Davidson method is presented to trace the critical eigenvalues for power system small signal stability analysis. The continuation power flow based on a predictor- corrector technique is applied to evaluate a continuum of steady state power flow solutions as system parameters change;meanwhile, the critical eigenvalues are found by the Jacobi-Davidson method, and thereby the trajectories of the critical eigenvalues, Hopf bifurcation and saddle node bifurcation points can also be found by the proposed method. The numerical simulations are studied in the IEEE 30-bus test system.展开更多
Autonomous trucks have the potential to enhance both safety and convenience in intelligent transportation.However,their maximum speed and ability to navigate a variety of driving conditions,particularly uneven roads,a...Autonomous trucks have the potential to enhance both safety and convenience in intelligent transportation.However,their maximum speed and ability to navigate a variety of driving conditions,particularly uneven roads,are limited by a high center of gravity,which increases the risk of rollover.Road bulges,sinkholes,and unexpected debris all present additional challenges for autonomous trucks’operational design,which current perception and decisionmaking algorithms often overlook.To mitigate rollover risks and improve adaptability to damaged roads,this paper presents a novel Road Obstacle-Involved Trajectory Planner(ROITP).The planner categorizes road obstacles using a learning-based algorithm.A discrete optimization algorithm selects a multi-objective optimal trajectory while taking into account constraints and objective functions derived from truck dynamics.Validation across various scenarios on a hardware-in-loop platform demonstrates that the proposed planner is effective and feasible for real-time implementation.展开更多
自由漂浮空间机器人(Free-floating space robots,FFSRs)凭借其运动自由度高、工作寿命长等优势,已成为长期在轨服务的关键无人设备。然而空间环境变化导致的外部扰动,以及因燃料消耗、系统参数辨识不准确等因素导致的模型不确定性会增...自由漂浮空间机器人(Free-floating space robots,FFSRs)凭借其运动自由度高、工作寿命长等优势,已成为长期在轨服务的关键无人设备。然而空间环境变化导致的外部扰动,以及因燃料消耗、系统参数辨识不准确等因素导致的模型不确定性会增加空间机器人高精度控制的难度。本文针对自由漂浮空间机器人存在外部扰动和模型不确定性的场景,设计了一种基于扰动补偿的模型预测控制方法。基于固定时间稳定性理论设计扰动观测器,使扰动估计误差在不依赖于初始误差的常数上界内实现收敛。同时,将扰动估计值补偿入模型预测控制器,提高集总扰动条件下预测模型的准确性,进一步地利用模型预测控制滚动优化的特点,实现了空间机器人约束条件下高精度控制。本文证明了扰动观测器与基于扰动补偿模型预测控制器的稳定性,并通过数值仿真验证了方法的有效性。展开更多
在整体式车辆稳定性轨迹跟踪控制架构的基础之上,设计了一种引入预瞄曲率信息的自适应预测时域非线性模型预测控制(NMPC).基于预瞄的参考路径曲率点列指导控制维度变化,提升控制器对于路径曲率的动态响应能力;进一步地,引入状态协调优...在整体式车辆稳定性轨迹跟踪控制架构的基础之上,设计了一种引入预瞄曲率信息的自适应预测时域非线性模型预测控制(NMPC).基于预瞄的参考路径曲率点列指导控制维度变化,提升控制器对于路径曲率的动态响应能力;进一步地,引入状态协调优化机制,使控制器显示耦合至上一控制周期的车辆状态空间,有效避免预测时域变化造成的多步优化问题解耦效应,抑制因控制输入突变对轨迹跟踪控制任务的影响.结合两种优化方法,有效改善固定预测时域策略在高曲率轨迹跟踪中因累计误差造成的跟踪精度下降问题.最后,基于MATLAB/Simulink-CarSim联合仿真平台对算法进行了验证.经计算,高速单移线工况下,该方法在侧向偏差均值/峰值、纵向偏差均值/峰值、航向偏差均值/峰值指标中,相较于固定预测时域NMPC同比降低36.17%/15.25%、11.55%/38.58%、6.13%/25.27%;高速双移线工况下,同比降低30.28%/29.77%、25.07%/3.85%、11.02%/2.68%.此外,在高速低附着工况中,该方法仍能保证良好的控制精度及侧向稳定性,其峰值侧向偏差为0.2017 m、峰值纵向偏差为0.9744 km h^(-1)、峰值航向偏差为1.1936°、峰值质心侧偏角为1.9074°.展开更多
安全行驶是轮式车辆的核心需求,而在复杂路况(如曲率变化路径和障碍物环境)中实现高精度路径跟踪更具挑战性。本文以阿克曼转向四轮小车为研究对象,基于其运动学模型,设计了一种基于非线性规划的实时非线性模型预测控制器(Nonlinear Mod...安全行驶是轮式车辆的核心需求,而在复杂路况(如曲率变化路径和障碍物环境)中实现高精度路径跟踪更具挑战性。本文以阿克曼转向四轮小车为研究对象,基于其运动学模型,设计了一种基于非线性规划的实时非线性模型预测控制器(Nonlinear Model Predictive Control,NMPC)。该控制器将路径跟踪与动态避障统一转化为带约束的非线性优化问题,通过内点优化器(Interior Point OPTimizer,IPOPT)实时求解。为验证控制器的性能,分别在包含障碍物的直线、圆形及复杂参考路径场景下进行了跟踪测试。仿真结果表明,所提出的方法在不同障碍物场景下均能实现稳定的路径跟踪与安全避障。展开更多
Accurate trajectory tracking control with guaranteed vehicle dynamics stability is fundamental for automated vehicles.This paper proposes an enabling trajectory tracking scheme with improved dynamics stability for fou...Accurate trajectory tracking control with guaranteed vehicle dynamics stability is fundamental for automated vehicles.This paper proposes an enabling trajectory tracking scheme with improved dynamics stability for four-wheel-independent-drive electric vehicles.First,a modified phase plane method is proposed for assessing vehicle dynamics stability by constructing a 3-D phase trajectory.Then a lateral trajectory tracking controller is developed using a model predictive control algorithm with a variable stiffness tire model.Considering the effect of the additional yaw moment on the trajectory tracking error and vehicle yaw stability,a dual-weight cooperative sliding mode control method is established for yaw angle tracking compensation and yaw stability control through target switching.Finally,the desired additional yaw moment and total longitudinal tire force are achieved through wheel torque allocation while accounting for the slip ratios.The performance of the proposed method is evaluated through comprehensive Hardware-in-the-Loop tests under double-lane change maneuvers.展开更多
基金the National Natural Science Foundation of China(No.51965032)the National Natural Science Foundation of Gansu Province of China(No.22JR5RA319)+1 种基金the Excellent Dectoral Student Foundation of Gansu Province of China(No.23JRRA842)the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)。
文摘Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.
基金supported by the National Natural Science Foundation of China(10832004,10602027)
文摘Coupled trajectory and attitude stability of displaced solar orbits is studied by using sailcraft with a kind of two-folding construction with two unequal rectangular plates forming a right angle. Three-dimensional coupled trajectory and attitude equations are developed for the coupled dynamical system, and the results show that all three types of displaced solar orbits widely referenced can be achieved through selecting an appropriate size of the two-folding sail. An anal- ysis of the corresponding linear stability of the trajectory and attitude coupled system is carried out, and both trajectory and attitude linearly stable orbits are found to exist in a small range of parameters, whose non-linear stability is then examined via numerical simulations. Finally, passively stable orbits are found to have weak stability, and such passive means of station-keeping are attractive and useful in practice because of its simplicity.
文摘The stabilization and trajectory tracking problems of autonomous airship＇s planar motion are studied. By defining novel configuration error and velocity error, the dynamics of error systems are derived. By applying Lyapunov stability method, the state feedback control laws are designed and the close-loop error systems are proved to be uniformly asymptotically stable by Matrosov theorem. In particular, the controller does not need knowledge on system parameters in the case of set-point stabilization, which makes the controller robust with respect to parameter uncertainty. Numerical simulations illustrate the effectiveness of the controller designed.
基金Under the auspices of National Natural Science Foundation of China(No.42071255)。
文摘National nature reserves are an important part of classification management on ecological protection in China. Taking the national nature reserves of Jilin Province as examples, this paper introduced the stability index by referring to the intensity model of landuse and land-cover change(LUCC), and analyzed the overall stability of land-use and land-cover(LULC) in the study area from the time interval level and land category level. The stability of LULC in different types of nature reserves was tracked and identified by extracting land-use change trajectory, and the land-use change trajectory was divided into three types: stable type, sub-stable type and unstable type. The impact of LUCC on regional ecosystem services was studied by using hotspot analysis and gravity center analysis. The results showed that: 1) The LULC in the study area was stable on the whole, and the proportion of stable land area reached 86.08%. The intensity of LUCC showed an increasing trend in recent 20 years, and the conversion of cultivated land and construction land was active in continuous time interval. 2) The stability of LULC in forest ecological reserves and wildlife reserves in the eastern part of Jilin Province was the highest, while that in inland wetland reserves and geological relic reserves in the central and western part of Jilin Province was lower.3) The LUCC in national nature reserves not only changed the value of its own ecosystem service function, but also affected the ecosystem service function of the whole region. The combination of intensity analysis and land-use change trajectory was used to identify the characteristics of stability of LULC in nature reserves, which was conducive to deeply understand the process of LUCC in national nature reserves and provided reasonable suggestions for regional ecological protection.
基金the National Natural Science Foundation of China (10572026)
文摘Based on the stability theory, numerical simulations and theoretical calculations are performed for a projectile with wrap-around fins. Its stability is analyzed and the flow field is simulated with computational fluid dynamics method. Consequently, the pitching moment coefficient of the projectile is further investigated under the conditions of Mach number ranging from 0.3 to 0.8, attack angle from 0 to 8° and yaw angle from 0 to 4°. A trajectory equation is established and its trajectory characteristics are also explored. All the results of theoretical analysis, numerical simulation and trajectory equation agree well with each other, which indicates the projectile is flying steadily at the given conditions. These results provide an effective way for judging the stability of the projectile with wrap-around fins.
基金supported in part by the TUM University Foundation Fellowshipin part by the German Federal Ministry for Economic Affairs and Energy(BMWi)within the Federal Aeronautical Research Program LuFo V-3 through Project“HOTRUN”(No.20E1720A)。
文摘This study is dedicated to the development of a direct optimal control-based algorithm for trajectory optimization problems that accounts for the closed-loop stability of the trajectory tracking error dynamics already during the optimization.Consequently,the trajectory is designed such that the Linear Time-Varying(LTV)dynamic system,describing the controller’s error dynamics,is stable,while additionally the desired optimality criterion is optimized and all enforced constraints on the trajectory are fulfilled.This is achieved by means of a Lyapunov stability analysis of the LTV dynamics within the optimization problem using a time-dependent,quadratic Lyapunov function candidate.Special care is taken with regard to ensuring the correct definiteness of the ensuing matrices within the Lyapunov stability analysis,specifically considering a numerically stable formulation of these in the numerical optimization.The developed algorithm is applied to a trajectory design problem for which the LTV system is part of the path-following error dynamics,which is required to be stable.The main benefit of the proposed scheme in this context is that the designed trajectory trades-off the required stability and robustness properties of the LTV dynamics with the optimality of the trajectory already at the design phase and thus,does not produce unstable optimal trajectories the system must follow in the real application.
基金This work is supported by the National Natural Science Foundation of China(Project 61368004)the Fund of National High-level Overseas Talent Returning([2011]481)a scholarship from China Scholarship Council(No.201703000001).
文摘Torsional micromirror devices have been widely used in micro displays,RF switches,optical communications,and optical coherence tomography systems.In order to study the stability of electrostatically driven torsional micromirror system with double bottom plates and two voltage sources,a dimensionless,two degrees of freedom(2-DoF)dynamic model was constructed.Governed by the dimensionless phase space model equation,the pull-in and bifurcation phenomena were analyzed using the Hamiltonian method and numerical simulation.In particular,the influence of the damping coefficient and the torsion-bending coupling effect on the phase trajectory was investigated.Furthermore,the conditions that can lead to pull-in were numerically determined for saddle-node,pitchfork and Hopf bifurcations in the framework of 2-DoF system.Result showed that the dynamic pull-in voltage as predicted by the proposed 2-DoF system model is considerably lower than that by the one degree of freedom(1-DoF)system model.It was also confirmed that the pull-in voltage varies with the damping coefficient and/or the ratio of the two voltages applied to the bottom plates of the micromirror.The modelling method and stability analysis presented in this paper shall provide valuable insight to the design and control of electrostatically actuated micromirror systems.
文摘The continuation power flow method combined with the Jacobi-Davidson method is presented to trace the critical eigenvalues for power system small signal stability analysis. The continuation power flow based on a predictor- corrector technique is applied to evaluate a continuum of steady state power flow solutions as system parameters change;meanwhile, the critical eigenvalues are found by the Jacobi-Davidson method, and thereby the trajectories of the critical eigenvalues, Hopf bifurcation and saddle node bifurcation points can also be found by the proposed method. The numerical simulations are studied in the IEEE 30-bus test system.
基金Supported by National Natural Science Foundation of China (Grant Nos. 52072215, 52221005, 52272386)Beijing Municipal Natrual Science Foundation (Grant No. L243025)+2 种基金National Key R&D Program of China (Grant No. 2022YFB2503003)State Key Laboratory of Intelligent Green Vehicle and Mobilityfundamental Research Funds for the Central Universities
文摘Autonomous trucks have the potential to enhance both safety and convenience in intelligent transportation.However,their maximum speed and ability to navigate a variety of driving conditions,particularly uneven roads,are limited by a high center of gravity,which increases the risk of rollover.Road bulges,sinkholes,and unexpected debris all present additional challenges for autonomous trucks’operational design,which current perception and decisionmaking algorithms often overlook.To mitigate rollover risks and improve adaptability to damaged roads,this paper presents a novel Road Obstacle-Involved Trajectory Planner(ROITP).The planner categorizes road obstacles using a learning-based algorithm.A discrete optimization algorithm selects a multi-objective optimal trajectory while taking into account constraints and objective functions derived from truck dynamics.Validation across various scenarios on a hardware-in-loop platform demonstrates that the proposed planner is effective and feasible for real-time implementation.
文摘自由漂浮空间机器人(Free-floating space robots,FFSRs)凭借其运动自由度高、工作寿命长等优势,已成为长期在轨服务的关键无人设备。然而空间环境变化导致的外部扰动,以及因燃料消耗、系统参数辨识不准确等因素导致的模型不确定性会增加空间机器人高精度控制的难度。本文针对自由漂浮空间机器人存在外部扰动和模型不确定性的场景,设计了一种基于扰动补偿的模型预测控制方法。基于固定时间稳定性理论设计扰动观测器,使扰动估计误差在不依赖于初始误差的常数上界内实现收敛。同时,将扰动估计值补偿入模型预测控制器,提高集总扰动条件下预测模型的准确性,进一步地利用模型预测控制滚动优化的特点,实现了空间机器人约束条件下高精度控制。本文证明了扰动观测器与基于扰动补偿模型预测控制器的稳定性,并通过数值仿真验证了方法的有效性。
文摘在整体式车辆稳定性轨迹跟踪控制架构的基础之上,设计了一种引入预瞄曲率信息的自适应预测时域非线性模型预测控制(NMPC).基于预瞄的参考路径曲率点列指导控制维度变化,提升控制器对于路径曲率的动态响应能力;进一步地,引入状态协调优化机制,使控制器显示耦合至上一控制周期的车辆状态空间,有效避免预测时域变化造成的多步优化问题解耦效应,抑制因控制输入突变对轨迹跟踪控制任务的影响.结合两种优化方法,有效改善固定预测时域策略在高曲率轨迹跟踪中因累计误差造成的跟踪精度下降问题.最后,基于MATLAB/Simulink-CarSim联合仿真平台对算法进行了验证.经计算,高速单移线工况下,该方法在侧向偏差均值/峰值、纵向偏差均值/峰值、航向偏差均值/峰值指标中,相较于固定预测时域NMPC同比降低36.17%/15.25%、11.55%/38.58%、6.13%/25.27%;高速双移线工况下,同比降低30.28%/29.77%、25.07%/3.85%、11.02%/2.68%.此外,在高速低附着工况中,该方法仍能保证良好的控制精度及侧向稳定性,其峰值侧向偏差为0.2017 m、峰值纵向偏差为0.9744 km h^(-1)、峰值航向偏差为1.1936°、峰值质心侧偏角为1.9074°.
文摘安全行驶是轮式车辆的核心需求,而在复杂路况(如曲率变化路径和障碍物环境)中实现高精度路径跟踪更具挑战性。本文以阿克曼转向四轮小车为研究对象,基于其运动学模型,设计了一种基于非线性规划的实时非线性模型预测控制器(Nonlinear Model Predictive Control,NMPC)。该控制器将路径跟踪与动态避障统一转化为带约束的非线性优化问题,通过内点优化器(Interior Point OPTimizer,IPOPT)实时求解。为验证控制器的性能,分别在包含障碍物的直线、圆形及复杂参考路径场景下进行了跟踪测试。仿真结果表明,所提出的方法在不同障碍物场景下均能实现稳定的路径跟踪与安全避障。
基金partly supported by the Taishan Scholars Program under Grant No.tsqn202312310partly supported by the China Postdoctoral Science Foundation under Grant No.2023M740244.
文摘Accurate trajectory tracking control with guaranteed vehicle dynamics stability is fundamental for automated vehicles.This paper proposes an enabling trajectory tracking scheme with improved dynamics stability for four-wheel-independent-drive electric vehicles.First,a modified phase plane method is proposed for assessing vehicle dynamics stability by constructing a 3-D phase trajectory.Then a lateral trajectory tracking controller is developed using a model predictive control algorithm with a variable stiffness tire model.Considering the effect of the additional yaw moment on the trajectory tracking error and vehicle yaw stability,a dual-weight cooperative sliding mode control method is established for yaw angle tracking compensation and yaw stability control through target switching.Finally,the desired additional yaw moment and total longitudinal tire force are achieved through wheel torque allocation while accounting for the slip ratios.The performance of the proposed method is evaluated through comprehensive Hardware-in-the-Loop tests under double-lane change maneuvers.
