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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Robust Control in Diagonal Move Steer Mode and Experiment on an X-by-Wire UGV
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Robust Control in Diagonal Move Steer Mode and Experiment on an X-by-Wire UGV

机译：对角线移动转向模式的鲁棒控制和X-By-Wire UGV上的实验

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摘要

This paper proposes a novel X-by-wire unmanned ground vehicle (UGV)-unmanned ground carrier (UGC). To show functions of the UGV, the mechanisms and design processes of the key subsystems are described, especially the in-wheel motor-driven and independent steer subsystems. As an all-wheel-independently steered (AWIS) UGV, the UGC is able to achieve the diagonal move steer mode (DMSM) to improve the maneuverability significantly. To improve the path tracking performance in DMSM, a robust H-2 (/) H-infinity chassis yaw controller is proposed, which uses the additional yaw moment provided by in-wheel motors to track the desired sideslip angle and avoid the yaw motion. The energy to peak and energy to energy performance of the sideslip angle and the yaw velocity are considered and handled by linear matrix inequalities (LMIs) approach during the H-2 (/) H-infinity controller design. The parametric uncertainties and disturbances of the vehicle mass, the yaw inertia, and tire cornering stiffness are considered to improve the robustness. Finally, the step steer and lane change tests are conducted with the UGV testbed to validate the efficiency and robustness of the proposed chassis controller.
机译：本文提出了一种新型X-By-Wire无人机（UGV） - 甘露队的地面载体（UGC）。为了示出UGV的功能，描述了关键子系统的机制和设计过程，尤其是轮内电动机驱动和独立的转向子系统。作为全轮独立转向（AWIS）UGV，UGC能够实现对角线移动转向模式（DMSM）以显着提高机动性。为了提高DMSM中的路径跟踪性能，提出了一种坚固的H-2（/）H-INFINITY底盘偏航控制器，其使用由轮内电机提供的额外的横摆力矩来跟踪所需的侧滑角并避免偏航运动。在H-2（/）H-Infinity控制器设计期间，考虑并通过线性矩阵不等式（LMIS）方法进行峰值和能量对能量性能的能量和偏航速度的能量。车辆质量，横摆惯量和轮胎转弯刚度的参数不确定性和干扰被认为是提高鲁棒性。最后，使用UGV试验台进行了步骤转向和车道变化测试，以验证所提出的底盘控制器的效率和稳健性。

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