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

图 1 二自由度车辆动力学模型

Fig.1 Vehicle lateral 2-DoF dynamic model