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首页> 外文期刊>Journal of Systems and Control Engineering >Path tracking control of 4-wheel-steering autonomous ground vehicles based on linear parameter-varying system with experimental verification
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Path tracking control of 4-wheel-steering autonomous ground vehicles based on linear parameter-varying system with experimental verification

机译：基于线性参数变化系统的4轮转向自动研磨与实验验证的路径跟踪控制

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摘要

In this study, a novel 4-wheel-steering electric vehicle is proposed as an autonomous ground vehicle. It aims to study the path tracking control algorithm of the 4-wheel-steering autonomous ground vehicle for intelligent driving.. Path tracking model is built for path tracking controller design based on a single track model. Besides, the linear parameter-varying system model is constructed to make the path tracking controller adaptive to different longitudinal velocities and road friction coefficients. Furthermore, a linear quadratic regulator controller for path tracking is designed and stability analysis is carried out. To eliminate the error caused by disturbance, feedforward control is combined with a linear quadratic regulator controller. To verify the path tracking performance of the designed controller, numerical simulations are carried out based on a high-fidelity and full-vehicle model constructed in CarSim. Moreover, real road experiments are performed. Both the simulation results and experiment results show that the designed controller has good path tracking performance. In addition, the path tracking controller shows good robustness to deal with different longitudinal velocities and road friction coefficients.
机译：在该研究中，提出了一种新的4轮转向电动车辆作为自主地面车辆。它旨在研究智能驾驶4轮转向自动研磨车辆的路径跟踪控制算法。基于单轨道模型，为路径跟踪控制器设计而建立了路径跟踪模型。此外，建造线性参数变化系统模型以使路径跟踪控制器适应不同的纵向速度和道路摩擦系数。此外，设计了用于路径跟踪的线性二次调节器控制器，并进行稳定性分析。为了消除扰动引起的误差，前馈控制与线性二次调节器控制器组合。为了验证所设计的控制器的路径跟踪性能，基于Carsim构造的高保真和全车型进行数值模拟。而且，进行真正的道路实验。仿真结果和实验结果都表明，设计的控制器具有良好的路径跟踪性能。此外，路径跟踪控制器显示出良好的稳健性，以处理不同的纵向速度和道路摩擦系数。

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