智能车辆路径跟踪的模糊预瞄控制方法研究

论文首先介绍了智能车辆的基本硬件组成,然后结合智能车辆路径跟过程中转向控制方面的特点,提出了一种将模糊与预瞄控制理论相结合的控制策略,介绍了模糊预瞄控制器的原理、结构及其设计过程.试验表明,论文提出的控制策略可以较好地跟踪既定轨迹,并且在道路弯曲度较大时能够实时调节预瞄点个数,从而提高车辆对弯道路径跟踪的预测性、智能性和鲁棒性.     

无人驾驶车路径跟踪控制研究

研究被控对象无人驾驶车,基于预瞄控制思想,设计一种无人驾驶车路径跟踪控制器,将控制器分为预瞄控制和补偿控制两部分,预瞄控制模拟驾驶员在驾驶车辆过程中对前方的道路环境信息进行预瞄,根据道路曲率程度决定方向盘转向,补偿控制是对车辆遇到干扰偏离原车道的纠正。仿真实验结果表明,该控制器能够保证无人驾驶车准确跟踪各种参考路径,且具有较好的鲁棒性。     

基于零力矩点预观控制的在线步态规划

提出了一种基于零力矩点(ZMP)预观控制的仿人机器人在线步态规划方法。参照仿人机器人的ZMP表达式,将水平角动量引入机器人的桌子-小车模型表达式,对其进行了扩展;基于扩展桌子-小车模型并结合预观控制理论,在线完成机器人的步态规划。为了提高机器人步行的稳定性,将髋关节轨迹的优化问题转化为质心轨迹的调节问题,构造预观控制器对机器人的质心轨迹进行校正,实现机器人的步态优化。仿真结果表明了所用方法的有效性。     

基于零力矩点预观控制的在线步态规划

提出了一种基于零力矩点(ZMP)预观控制的仿人机器人在线步态规划方法。参照仿人机器人的ZMP表达式,将水平角动量引入机器人的桌子-小车模型表达式,对其进行了扩展;基于扩展桌子-小车模型并结合预观控制理论,在线完成机器人的步态规划。为了提高机器人步行的稳定性,将髋关节轨迹的优化问题转化为质心轨迹的调节问题,构造预观控制器对机器人的质心轨迹进行校正,实现机器人的步态优化。仿真结果表明了所用方法的有效性。     

基于智能优化算法的Pendubot轨迹规划与控制方法设计

以垂直Pendubot为研究对象,提出一种基于智能优化算法的轨迹规划与控制方法,以解决Pendubot控制过程中难以从摇起区过渡至平衡区的问题.为Pendubot的驱动连杆规划一条从初始角度到中间角度的正向轨迹和一条从中间角度到目标角度的反向轨迹.欠驱动连杆在系统耦合关系作用下进行运动,对应的Pendubot末端点也运动至相应位置.通过遗传算法优化轨迹参数,将正向和反向轨迹拼合为一条由初始角度到目标角度的驱动连杆轨迹的同时,对应的Pendubot末端点轨迹拼合为一条由垂直向下平衡位置到垂直向上平衡位置的完整轨迹,然后设计跟踪控制器跟踪优化后的驱动连杆轨迹至目标角度,由于耦合关系的存在,Pendubot末端点也运动至垂直向上平衡位置.由于Pendubot受重力作用,其末端点很难长时间稳定在垂直向上平衡位置,故设计镇定控制器,实现Pendubot末端点在垂直向上平衡位置的镇定控制.最后通过仿真实验验证所提出方法的有效性,并通过对比说明所提出方法在奇异点规避、控制器设计和控制效果方面的优势.     

基于预瞄模糊PID控制的嵌入式轮式机器人设计

采用ARM作为核心处理器件设计了一款自动寻迹的轮式机器人并完成寻迹实验.基于模仿人工驾驶思想将多点预瞄和模糊PID控制结合提出了多点预瞄模糊PID控制方法.经调试,轮式机器人能分别按照直线、虚线道路行走,并能完成自动寻找目标道路等行为.重点给出了控制器与硬件电路图设计.实验表明,机器人完全能满足性能要求,为新型轮式移动机器人的设计提供了方案.     

移动机器人路径跟踪的智能预瞄控制方法研究

本文首先介绍了移动机器人的基本硬件组成，然后模仿人工预瞄驾驶行为，提出了一 种移动机器人路径跟踪的智能预瞄控制方法，并介绍了智能预瞄控制器的原理、结构及其设 计过程．试验表明：本文提出的控制方法可保证机器人准确地沿各种参考路径行走，且具有 良好的鲁棒性．具有运动避障功能的移动机器人控制系统正在研究过程中．     

基于线控底盘的无人驾驶轨迹跟踪控制研究

为提高结构化工况下无人驾驶汽车轨迹跟踪的精确性,提出一种融合纵向车速跟踪控制器的预瞄轨迹跟踪控制算法。针对四轮转向的特性,基于传统纯跟踪算法设计了四轮转向纯跟踪控制模型;针对纯跟踪算法跟踪效果受车速影响较大的缺陷,设计了纵向车速跟踪控制器并采用n维插值表方式在不同曲率处设置不同车速;将四轮转向纯跟踪算法融合纵向车速跟踪控制器,以达到更好的跟踪效果。仿真与实车试验表明,试验平台可较精确地跟踪规划轨迹并平稳抵达目标终点,实车轨迹跟踪过程中最大横向误差控制在0.497m。     

基于控制器输出误差方法的自适应模糊控制及其在机器人轨迹跟踪控制中的应用

本文提出一种自适应模糊控制器并将之用于机器人轨迹跟踪控制 ,该控制器采用控制器输出误差方法 (COEM) ,根据控制器的输出误差而不是对象的输出误差来在线地调整模糊控制器的参数 ,无须对对象进行辩识 .仿真结果表明该控制器用于机器人轨迹跟踪控制具有很好的性能 ,是一种有效的控制器     

速度测量不确定性影响下的无人车路径跟踪预瞄控制EI北大核心CSCD

预瞄距离是无人车路径跟踪预瞄控制系统设计中的一个关键参数,其选取往往依赖于车辆行驶速度.然而,车速的测量不可避免存在偏差,这必将影响系统的预瞄控制性能.本文针对这一问题,在充分考虑车速测量不确定性对预瞄距离选取影响的基础上,提出一种基于线性参数变化(LPV)系统的鲁棒H∞路径跟踪预瞄控制算法.首先,选取车速和预瞄距离为调度变量,将原系统转化为一种具有可变权重因子的LPV系统.然后,针对无人车系统状态的不完全可测性,设计一种基于观测器的鲁棒H∞控制器.最后,给出保证闭环系统鲁棒H∞性能的凸优化求解条件.仿真结果验证了本文提出控制算法的有效性.     

The preview control of a class of linear systems and its application in the fault-tolerant control theory

In the fault-tolerant control theory based on model following control, the desired signal of the control system is the output of a reference system. This paper is concerned with the design of the preview controller for a class of fault systems. A composite vector is introduced by including error vector, fault system state vector and reference system state vector. Then, we derived an augmented system from the known system equation, in which the reference input has equal status with the desired signal in the traditional preview control theory. Therefore, we can use the known theory to design the preview controller for the augmented system, then the preview controller of the original fault system can be obtained by the integration method. This paper strictly discusses the connection between stabilisation and detectability of the augmented system and the corresponding characteristics of the original system. Finally, by applying this theory to a real steam generator water level control system, it is found that the actions of the reference input preview and the fault signal preview can effectively eliminate the effect of the fault signal on the water level of the steam generator. The simulation shows the effectiveness of the controller designed.     

线性连续时滞系统最优预见重复控制

针对一类线性连续时滞系统,提出一种最优预见重复控制设计方法.首先,通过一种等价变换,将被控时滞系统转化为无时滞系统.然后,利用L阶差分算子提升技巧,获得包含状态变量导数和跟踪误差的增广连续系统.在此基础上,通过定义一种新的性能指标,将预见重复控制设计问题转化为连续非自治系统的线性二次调节问题.进一步,基于最优控制理论,得到包含状态反馈、误差积分、重复控制、时滞补偿和预见补偿的最优预见重复控制器.该控制器包含了已有文献的多种控制器形式.最后,通过一个数值仿真实例,说明所提方法的有效性.     

应用轴距预描的主动悬架最优控制器设计

设计主动悬架的关键任务之一是寻找一个好的控制律，随机线性最优控制理论能为车辆提供良好的性能，得到了广泛的应用。轴距预描控制利用前轮处的路面信息作为预描变量对后轮进行控制，能充分发挥主动悬架的潜力。该文以悬架理论为基础，应用最优控制理论进行了结合轴距预瞄信息的主动悬架最优控制器的设计，并用一个卡尔曼滤波器估计系统状态。最后在MATLAB环境中建模和仿真，将有、无预描主动悬架系统的车身加速度、悬架动行程及车轮动位移3项指标进行了对比。仿真结果表明，采用轴距预描控制在低速情况下能较大改善后悬架系统的性能．验证了轴距预描控制的可行性。     

Enhanced feedforward control of non-minimum phase systems for tracking predefined trajectory

This article proposes a novel feedforward controller for non-minimum phase systems by utilising the preview information of the desired trajectory. The performance of the proposed controller is analysed theoretically and verified through the simulation, including comparison with the optimal zero phase error tracking controller and the preview-based stable inversion. The simulation results show that the proposed controller can gain outstanding performance even if the preview time of the desired trajectory is limited.     

Cooperative optimal preview tracking control of continuous-time multi-agent systems

This paper presents the cooperative preview control method for continuous-time multi-agent systems with a time-invariant directed communication topology. First, the cooperative tracking preview control problem is transformed into the optimal regulation problem of an augmented system. Next, by applying the results of the standard optimal preview control of continuous-time linear systems, a controller of the augmented system is obtained. Furthermore, the stabilisability and detectability of the augmented system are studied under the fixed digraph and the prescribed leader. Then, we derive the controller of multi-agent systems with error integral and preview action that can guarantee the achievement of cooperative optimal preview tracking. Finally, the effectiveness of the controller is shown by numerical simulations.     

轮式移动机器人预见预测运动控制

针对移动机器人的运动控制问题,该文采用预见预测控制方法加以解决。利用三阶Bezier曲线作为路径生成器生成目标轨迹,并据此设计了最优预见控制器作为系统的前馈补偿;使用扩展卡尔曼滤波器作为预测模型,基于广义预测控制(GPC)实现了PPC运动控制器的设计。仿真实验结果证明了该方法的有效性。     

Decentralized preview control for multiple disturbance rejection in HVAC systems

A decentralized preview controller is designed for temperature control of multizone indoor environmental spaces. A two-zone space heating system is considered. The physical system consists of a boiler, heat pumps, distribution network and two environmental zones. By assuming that the outdoor temperature variations are “previewable”, a decentralized preview controller is designed by using a parameter optimization method. The output responses of the resulting decentralized closed-loop bilinear system acted upon by single and multiple disturbances with and without preview action are compared. Also, results showing the robustness property of the controller, and the 24-hour building operation with unoccupied and occupied setpoint tracking using preview control are given.     

Cooperative global optimal preview tracking control of linear multi-agent systems: an internal model approach

This paper investigates the cooperative global optimal preview tracking problem of linear multi-agent systems under the assumption that the output of a leader is a previewable periodic signal and the topology graph contains a directed spanning tree. First, a type of distributed internal model is introduced, and the cooperative preview tracking problem is converted to a global optimal regulation problem of an augmented system. Second, an optimal controller, which can guarantee the asymptotic stability of the augmented system, is obtained by means of the standard linear quadratic optimal preview control theory. Third, on the basis of proving the existence conditions of the controller, sufficient conditions are given for the original problem to be solvable, meanwhile a cooperative global optimal controller with error integral and preview compensation is derived. Finally, the validity of theoretical results is demonstrated by a numerical simulation.