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为实现车速跟踪期望值的控制目标,研究了含有参数和外部干扰等不确定性的无人驾驶车纵向运动控制问题。采用模糊多滑模控制策略设计基于油门与制动的无人驾驶车纵向运动控制算法。该算法利用模糊逻辑调节滑模增益系数,实现了对不确定性和外部干扰的估计和补偿,并利用Lyapunov稳定性分析方法证明了所得闭环系统的稳定性。最后构造油门控制与制动控制的切换策略以保证油门执行器与制动执行器之间的平滑过渡。分析结果表明:该控制算法可克服不确定性和干扰的影响,具有高精度和强鲁棒性。
In order to realize the control target of the speed tracking expectation, the problem of longitudinal motion control of driverless vehicles with uncertainty such as parameters and external disturbances is studied. Design of Longitudinal Motion Control Algorithm for Vehicle Driverless Vehicle Based on Fuzzy Multi - Sliding Mode Control Strategy. The algorithm uses the fuzzy logic to adjust the sliding mode gain coefficient to realize the estimation and compensation of the uncertainties and external disturbances. The stability of the closed-loop system is proved by Lyapunov stability analysis. Finally, the strategy of throttle control and brake control is constructed to ensure the smooth transition between the throttle actuator and the brake actuator. The analysis results show that this control algorithm can overcome the influence of uncertainty and interference, and has high precision and strong robustness.