提出一种基于条件积分算法的无人驾驶车辆轨迹跟踪鲁棒控制方法，使无人驾驶车辆跟踪一个给定的参考轨迹。所设计的轨迹跟踪控制器由两个子控制器构成，运动学控制器和动力学控制器。基于条件积分算法，运动学控制器考虑到车辆质心位置存在误差和横摆角速度上界的情况，根据车辆相对轨迹的非线性运动学关系得到有界的车辆期望横摆角速度来实现车辆相对轨迹的侧向位移误差的全局渐进稳定。之后为满足期望横摆角速度需求，设计动力学控制器。基于条件积分算法，动力学控制器考虑到车辆参数的不确定性和执行器约束，根据车辆动力学方程得到有界的车辆前轮转角控制率来实现横摆角速度跟踪误差的渐进稳定，最终使车辆行驶在期望的轨迹上。并且控制算法在实现被控量渐进稳定的同时，给出车辆航向角和质心侧偏角稳态时的理论值。最后通过仿真验证车辆在较大的初始位移误差、航向角误差和侧向加速下能够实现车辆良好的轨迹跟踪效果，并且通过实车试验验证控制方法的有效性。
章仁燮
,
熊璐
,
余卓平
,
柏满飞
,
付志强
. 基于条件积分算法的无人驾驶车辆轨迹跟踪鲁棒控制方法[J]. 机械工程学报, 2018
, 54(18)
: 129
-139
.
DOI: 10.3901/JME.2018.18.129
Design of a robust trajectory tracking controller for autonomous vehicles based on conditional integration method is proposed to make the vehicle track a given reference trajectory. The controller consists of two sub controllers:kinematic controller and dynamic controller. Based on conditional integration method, according to the kinematics of reference trajectory, a desired yaw rate is calculated by kinematic controller to make the lateral displacement of the autonomous vehicle global asymptotic stability. And the kinematic controller considers the error of the centre of mass and limit of vehicle yaw rate. Then, to meet the demand of the desired yaw rate, vehicle dynamic controller is designed. Based on conditional integration method, desired steering angle is calculated by a vehicle dynamic controller from vehicle dynamics to make the yaw rate error asymptotic stability. the dynamic controller considers the uncertainty of vehicle parameters and limit of actuators. Meanwhile, the steady vehicle heading angle and slip angle is given. Finally, the simulation results show that the trajectory can be tracked with relative large initial displacement error, heading angle error and lateral acceleration, and the effectiveness of the control method is also verified by real vehicle test.
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