论文部分内容阅读
以编队中各车辆的运动学模型为基础,在跟随领航者体系下建立新的车辆编队系统动态模型.设计带有不定离轴点的输入输出反馈线性化跟踪控制器,将跟随车辆与领航车辆的跟踪问题转化为特定误差系统的控制问题.利用图论将所设计的跟踪控制器扩展到车辆编队控制中,并对车辆编队控制效果进行仿真验证.
Based on the kinematics model of each vehicle in the formation, a new dynamic model of vehicle formation system is established under the system of follow-up pilot.Designing an input-output feedback linearization tracking controller with indefinite off-axis points will follow the vehicle and pilot vehicles The tracking problem is transformed into the control problem of a specific error system.The graph controller is used to extend the tracking controller into vehicle fleet control and simulate the effect of vehicle fleet control.