基于数据驱动的鲁棒反步自适应巡航控制

宋家成,闫茂德,杨盼盼,巨永锋,岳靖斐

Robust backstepping adaptive cruise control based on data-driven

Jia-cheng SONG,Mao-de YAN,Pan-pan YANG,Yong-feng JU,Jing-fei YUE

表 2 控制跟踪误差、速度变化率及加速度变化率

Tab.2 Tracking error, velocity change rate and acceleration change rate

算法 CTH VTH $ {e_{80}}/{\rm{m}} $ $\Delta \bar v/({\rm{m \cdot {s^{ - 1}}} })$ $\Delta \bar a/({\rm{m \cdot {s^{ - 2}}}) }$ $ {e_{80}}/{\rm{m}} $ $\Delta \bar v/({\rm{m \cdot {s^{ - 1} }})}$ $\Delta \bar a/({\rm{m \cdot {s^{ - 2}}}) }$ PI 0.2 3.076 9 0.106 7 0.25 3.076 9 0.294 7 本研究 0.015 3.076 9 0.068 4 0.06 3.076 8 0.293 1