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针对具有网络传输延时和噪声的多车辆系统的编队问题,提出了一种基于自适应卡尔曼滤波器的协作路径跟踪控制方法.根据车辆运动学模型和给定队形及其路径参数,给出车辆协作路径跟踪控制器设计方法,将系统线性化,针对延时情况重构状态方程,用自适应卡尔曼滤波算法滤除噪声的影响,实现系统稳定控制.仿真实验证明了该方法的有效性.
Aiming at the formation of multi-vehicle system with network transmission delay and noise, a new adaptive path tracking control method based on adaptive Kalman filter is proposed. According to the vehicle kinematics model and given formation and its path parameters, The design method of vehicle cooperative path tracking controller is presented, the system is linearized, the state equation is reconstructed according to the delay situation, and the influence of noise is filtered out by using adaptive Kalman filter to realize the stable control of the system. Simulation results show that this method is effective Sex.