| 具有不确定参数的车辆跟随滑模控制 |
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| 引用本文： | 任殿波,张京明,张继业.具有不确定参数的车辆跟随滑模控制[J].电机与控制学报,2010,14(1). |
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| 作者姓名： | 任殿波 张京明 张继业 |
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| 作者单位： | 1. 哈尔滨工业大学汽车工程学院,山东,威海,264209
2. 西南交通大学牵引动力国家重点实验室,四川,成都,610031 |
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| 基金项目： | 国家自然科学基金(10772152) |
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| 摘 要： | 假定车辆质量及作用在车辆上的空气阻力、地面对轮胎的摩擦力等参数随时间变化但有界,研究自动化公路系统车辆纵向跟随控制。根据车辆不确定参数的有界性和滑模控制策略,采用饱和函数法,设计了车辆跟随系统的纵向变结构控制规律;基于李雅普诺夫稳定性方法,对控制系统的稳定性进行分析,并确定系统收敛的充分条件。仿真结果表明:采用所设计的控制方法,在达到满意跟踪性能的同时,还能有效抑制控制颤振,对参数不确定性具有鲁棒性。
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| 关 键 词： | 自动化公路系统 车辆跟随 滑模控制 参数不确定性 鲁棒性 |
Sliding mode control for vehicle following with parametric uncertainty |
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| REN Dian-bo,ZHANG Jing-ming,ZHANG Ji-ye.Sliding mode control for vehicle following with parametric uncertainty[J].Electric Machines and Control,2010,14(1). |
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| Authors: | REN Dian-bo ZHANG Jing-ming ZHANG Ji-ye |
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| Affiliation: | 1.School of Automotive Engineering;Harbin Institute of Technology Weihai 264209;China;2.State Key Laboratory of Traction Power;Southwest Jiaotong University;Chengdu 610031;China |
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| Abstract: | With the assumption of the boundedness of time-varying parameter,such as mass of vehicle,aerodynamic drag force,and tire drag force acting on vehicle,the control law for vehicle longitudinal following with parametric uncertainty in automated highway systems was studied.Based on the sliding mode scheme,considering the boundedness of varying parameter,the control law for vehicle longitudinal following was designed by using the saturated function method.The stability of control system was analyzed,and the suff... |
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| Keywords: | automated highway systems vehicle following sliding mode control parameter uncertainty robustness |
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