参数不确定性汽车的鲁棒最优控制

摘要

A quadratic tire model was adopted to set up the 3- D nonlinear dynamic model of vehicle.Considering the uncertain characteristic of the tire cornering stiffness,a linear parametric uncertainty vehicle model was established.Choosing vehicle slip angle and the yaw velocity as control variables, robust optimal controller was designed.Simulation on the 3 - D nonlinear vehicle with robust optimal controller in Matlab/Simulink software environment was described.%引入二次多项式平方轮胎模型,建立了车辆的三自由度非线性动力学模型.考虑轮胎参数的不确定性,推导了线性参数不确定性车辆模型,以车辆质心侧偏角和横摆角速度为控制变量,基于线性参数不确定性车辆模型设计了鲁棒最优控制器.利用Matlab/Simulink工具,将此控制器应用于车辆三自由度非线性动力学模型中,并进行了仿真.