基于最优控制的汽车操纵逆动力学的研究

提出了一种基于最优控制理论的汽车操纵逆动力学研究方法，用于识别不同汽车跟踪同一期望路径的方向盘转角输入。以驾驶员对汽车施加的方向盘转角输入为控制变量，以精确跟踪期望路径为控制目标，将汽车操纵逆动力学问题转化为最优控制问题。利用直接配置方法将最优控制问题转化为非线性规划问题，运用序列二次规划方法求解。仿真结果表明：该方法能够使汽车很好地跟踪所期望的路径，且可以比较跟踪同一路径的不同汽车的操纵性能。

Research on Vehicle Handling Inverse Dynamics Based on Optimal Control

Based on optimal control theory, a method for vehicle handling inverse dynamics was proposed. The method was used to identify steering angle input for different vehicles tracking the same desired path. The steering angle input imposed by driver was the control variable, and tracking the desired path was the control object. So vehicle handling inverse dynamics problem was converted into an optimal control problem. Then the optimal control problem was converted into a nonlinear programming problem which was solved by sequential quadratic programming. Simulation results show that vehicle can well track the desired path; maneuverability of different vehicles can be compared while tracking the same path.