智能车辆的滑模轨迹跟踪控制

摘要

Intelligent vehicle is a complex non-linear system of the various machines, sensors and computers, controller design for trajectory tracking is one of the key technologies for intelligent vehicle. For high-speed autonomous navigation robot, the trajectory tracking controller should has good robustness, high control precision and rigid time limitation. A variable structure controller is designed by using sliding mode control theory based on the structure and kinematic modeling. It can control the linear velocity and angular velocity of the intelligent vehicle to follow any path. Through simulating in Matlab, it shows the effectiveness and reliability of the designed algorithms.%智能车辆是集各种机械装置、传感器、计算机于一体的复杂非线性系统,其轨迹跟踪控制器是研究的关键技术之一.针对高速自主导航智能车辆轨迹跟踪控制器鲁棒性、精确性和实时性的高要求,在智能车辆结构组成与运动模型基础上,设计了一种滑模变结构控制器.通过控制智能车辆的线速度和角速度实现智能车辆对任意路径的跟踪,并用Matlab进行了仿真实验.结果验证了该方法的有效性和可靠性.