According to the condition of parameter perturbation and external disturbance existing in the running process of unmanned vehicle, the mixed controlling scheme is put forward based on the robust H∞ control and PID control. According to the analysis of the nonlinear,external disturbance,internal parameter perturbation and other factors in the running process of unmanned urban rail vehicle, the interval controlling model of the automatic driving system is established. Then, the PID control is utilized to realize the control of automatic driving model,and the H∞ controller is used to realize inhibition of the parameter perturbation and external disturbance, giving the concrete form of the controller. The result of the simulation shows that the mixed controlling scheme is effective.%针对无人驾驶车辆运行过程中存在参数摄动和外部扰动的情况,提出了基于鲁棒H∞控制和PID控制的混合控制方案.通过对无人驾驶城轨车辆驾驶仪运行中的非线性、外界扰动、内部参数摄动等因素的分析,建立了自动驾驶系统的区间控制模型.然后,利用PID控制器实现自动驾驶模态的控制,利用∞控制器实现参数摄动及外部扰动的抑制,并给出了控制器的具体形式.仿真结果表明所给出的混合控制方案是有效的.
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