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浙江大学学报(工学版)
浙江大学学报(工学版)  2020, Vol. 54 Issue (1): 110-117    DOI: 10.3785/j.issn.1008-973X.2020.01.013
土木工程、交通工程     
基于线性矩阵不等式的智能车轨迹跟踪控制
吴海东(),司振立
吉林大学 汽车仿真与控制国家重点实验室，吉林 长春 130022
Intelligent vehicle trajectory tracking control based on linear matrix inequality
Hai-dong WU(),Zhen-li SI
State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
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摘要：

针对传统的基于精确数学模型的智能车轨迹跟踪控制器跟踪精度低，鲁棒性弱，很难适应复杂多变的驾驶环境等问题，结合线性矩阵不等式(LMI)鲁棒控制具有易于求解、抗干扰能力强等优点，提出基于LMI的智能车轨迹跟踪控制方法. 将车辆侧向动力学状态空间模型进行坐标变换，得到基于跟踪误差的车辆侧向动力学状态空间模型，采用饱和线性轮胎得到车辆侧向动力学多胞型模型；设计LMI反馈控制器，在控制器中引入前馈控制量，以消除侧向位置稳态误差. Carsim和Matlab/Simulink的联合仿真表明，该控制器在保证车辆稳定性的基础上具有较高的跟踪精度，对车速和路面附着系数具有较强的鲁棒性. 与模型预测控制器(MPC)和预瞄驾驶员模型(PDM)控制器进行对比，结果表明，设计的该控制器轨迹跟踪精度更优.
关键词： 轨迹跟踪;  线性矩阵不等式（LMI）;  饱和线性轮胎;  多胞型模型;  联合仿真    
Abstract:

The traditional intelligent vehicle trajectory tracking controller based on precise mathematical model had the problems such as low tracking accuracy, weak robustness and difficult to adapt to the complex and changeable driving environment. An intelligent vehicle trajectory tracking control method was proposed based on linear matrix inequality (LMI) which had the advantages of easy to solve and strong anti-interference ability in order to solve these problems. The coordinate of vehicle lateral dynamic state space model was transformed to obtain the vehicle lateral dynamic state space model based on tracking error, and the vehicle lateral dynamics poly-topic model was got by using saturated linear tires. The LMI feedback controller was designed and the feedforward control amount was introduced in the controller to eliminate the lateral position steady error. The co-simulation of Carsim and Matlab/Simulink showed that the controller had high tracking accuracy and strong robustness to vehicle speed and road adhesion coefficient with ensuring vehicle stability. Results showed that the designed controller was better in trajectory tracking accuracy compared with the model predictive control (MPC) controller and preview driver model (PDM) controller.
Key words: trajectory tracking    linear matrix inequality (LMI)    saturated linear tire    poly-topic model    co-simulation
收稿日期: 2019-06-15 出版日期: 2020-01-05
CLC:  U 461  
基金资助: 国家自然科学基金资助项目（51775224）
作者简介: 吴海东(1978—)，男，副教授，从事车辆动力学的研究. orcid.org/0000-0001-6772-8803. E-mail： wuhd@jlu.edu.cn
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引用本文:

吴海东,司振立. 基于线性矩阵不等式的智能车轨迹跟踪控制[J]. 浙江大学学报(工学版), 2020, 54(1): 110-117.

Hai-dong WU,Zhen-li SI. Intelligent vehicle trajectory tracking control based on linear matrix inequality. Journal of ZheJiang University (Engineering Science), 2020, 54(1): 110-117.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2020.01.013    或    http://www.zjujournals.com/eng/CN/Y2020/V54/I1/110

图 1  二自由度车辆模型
图 2  轨迹上参考点计算
图 3  不同控制器的轨迹跟踪仿真结果
图 4  不同速度下的轨迹跟踪仿真结果
图 5  不同路面附着系数下的轨迹跟踪仿真结果
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