基于数据驱动的非完整移动机器人运动控制的研究
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摘要
智能车辆驱动控制系统和转向控制系统是一个典型的多输入多输出的强耦合系统,当系统老化、轮胎磨损或是电池电压不稳定的情况模型难以精确建立.基于数据驱动原理,直接利用实测的速度以及舵机角度等信息,辨识控制器的参数,从而避开模型辨识的过程,简化控制器设计,提高控制精度.仿真结果表明,方法具有较好的控制效果和较强的扰动抑制能力.
Intelligent vehicle drive control system and steering control system is a typical multi-input.and multi-output strong coupling system. System aging, tire wear, or batteryvoltage instability will make a model difficult to be precisely established. The paper, based on the data driving principle, directly uses actually measured speed and the angle of steering gear to identify the controller parameters, thus avoiding the process of model identification,simplifying the controller design, and improving the control precision. The simulation results show that this method has better control effects and strong disturbance suppression ability.
Intelligent vehicle drive control system and steering control system is a typical multi-input.and multi-output strong coupling system. System aging, tire wear, or batteryvoltage instability will make a model difficult to be precisely established. The paper, based on the data driving principle, directly uses actually measured speed and the angle of steering gear to identify the controller parameters, thus avoiding the process of model identification,simplifying the controller design, and improving the control precision. The simulation results show that this method has better control effects and strong disturbance suppression ability.
引文
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[2]Ali K K, Ali S, Moosavian A. Robust adaptive controller for a tractor-trailer mobile robot[J].IEEE/ASME Transactions on Mechatronics, 2014, 19(3):943-953.
[3]Zhang Q, Lapierre L, Xiang X B, Distributed control of coordinated path tracking for networked nonholonomic mobile vehicles[J]. IEEE Transactions on Industrial Informatics, 2013, 9(1):472-483.
[4]游峰,王荣本,张荣辉.智能车辆系统辨识与控制算法研究[J].中国公路学报,2008, 21(4):111-116.
[5]Hwang C L, Wu H M. Trajectory tracking of a mobile robot with frictions and uncertainties using hierarchical sliding-mode under-actuated control[J]. IET Control Theory Appl, 2013, 7(7):952-965.
[6]李世华,田玉平,非完整移动机器人的轨迹跟踪控制[J].控制与决策,2002, 17(3):301-305.
[7]刘佳熙,李升波,王建强,李克强.车辆智能巡航控制纵向动力学参数快速辨识方法[J].农业机械学报,2010, 41(10):5-10.
[8]高峰,李克强,王建强,等.车速控制系统自适应油门控制器设计[J].汽车工程,2005, 27(4):418-422.
[9]曹建永·复杂行驶工况下的驾驶员模型[D].长春:吉林大学,2007.
[10]杨华、李少远.一种完全数据驱动的子空间辨识与鲁棒预测控制器设计[J].控制理论与应用,2007, 24(5):732-736.