提出一种全局非奇异终端滑模控制器, 可用于带有参数不确定和外部扰动的二阶非线性系统。
证明了系统从任意初始状态到达滑模的时间和在滑模上到达平衡点的时间均为有限, 分析了终端滑模
控制用于不确定性系统的跟踪精度, 推导了系统跟踪精度和用于消除抖振的饱和函数宽度之间的数学
关系。根据给定的跟踪精度, 可设计出合适的饱和函数。仿真结果证明了所提出方法的有效性。
2021-10-15 08:06:26
303KB
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智能驾驶相关 轨迹跟踪 模型预测
Abstract—Path tracking issues of autonomous ground vehicles
(AGVs) have attracted more attention in recent years with the
intelligent and electrified development of vehicles. In order to
make AGVs path tracking problem more flexible, regional path
tracking problem is discussed in this manuscript based on model
predictive control (MPC) method, where the front wheel steering
angle is regarded as the control variable. The feasible region
for AGVs running is determined first according to the detected
road boundaries. In the following, AGVs running in this region
is considered using kinematic model. Then, in order to make
the actual trajectory of AGVs keep in the region and satisfy the
safety requirements, MPC method is employed to design path
tracking controller considering the vehicle dynamics, the actuator
and state constraints. In order to verify the effectiveness of the
proposed algorithm, simulations under various test conditions
are carried out using a high fidelity vehicle simulator veDYNA,
where the Hongqi vehicle HQ430 parameters are matched. The
results obtained from the simulation illustrate that the proposed
algorithm obtains good performance in dealing with the regional
path tracking problem.
2021-10-09 19:21:11
848KB
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汽车轨迹仿真，可以实现汽车轨迹优化里面有模型和过程代码
2021-09-28 18:06:47
562KB
18初始化函数初始化轨迹对象读取一帧数据 前景检测根据位置进行卡尔曼预测匈牙利匹配算法进行匹配分配好的轨迹更新未分配的轨迹更新删除丢掉的轨迹创建新轨迹 结果展示
2021-09-28 18:06:40
573KB
针对大部分两轮非完整移动机器人轮轴中心与几何中心不重合的特点, 提出一种多机器人协调编队控制算法. 构造队形参数矩阵确定编队形状, 根据领航机器人和相关队形参数生成虚拟机器人, 把编队控制分解为跟随机器人对虚拟机器人的轨迹跟踪. 建立虚拟机器人与跟随机器人之间误差系统模型, 利用Lyapunov 理论设计相应控制器, 从而实现队形保持和变换. 应用microsoft robotics developer studio 4(MRDS4) 搭建3D 仿真平台, 设计3 组实验, 结果进一步验证了所提出方法的有效性.
2021-09-09 09:54:35
518KB
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提出一种针对机器人跟踪控制的神经网络自适应滑模控制策略。该控制方案将神经网络的非线性映射能力与滑模变结构和自适应控制相结合。对于机器人中不确定项，通过RBF网络分别进行自适应补偿，并通过滑模变结构控制器和自适应控制器消除逼近误差。同时基于Lyapunov理论保证机器手轨迹跟踪误差渐进收敛于零。仿真结果表明了该方法的优越性和有效性。
2021-08-27 15:23:50
320KB
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