参数不确定和扰动下智能汽车路径跟踪控制

谭伟,刘景升,祖晖,全洪乾

Intelligent vehicle path tracking control under parametric uncertainties and external disturbances

Wei TAN,Jing-sheng LIU,Hui ZU,Hong-qian QUAN

表 2 控制器的跟踪性能对比

Tab.2 Tracking performance comparison of controllers

控制器 edm/m edR/m eψm/(°) eψR/(°) MPC 0.1887 0.1269 5.3933 0.9250 LMI-MPC 0.1927 0.0316 5.3901 0.7668 RMPC 0.1845 0.0307 5.3894 0.7555