随机车辆跟随系统的鲁棒控制

基于车辆系统建模中忽略的随机因素,根据伊藤随机微分方程建立随机车辆动力学模型,运用滑模控制研究了具有鲁棒性的随机车辆纵向跟随控制。假设参数有界,设计了一类随机车辆跟随系统的变结构鲁棒控制规律。运用随机车辆跟随系统的稳定性判据分析了控制系统的稳定性,得到控制系统收敛的充分条件。数值仿真表明,根据所设计的鲁棒控制策略,既能达到满意的跟踪性能,又可以有效减弱控制抖动。

Robust Control of Stochastic Vehicle Following Systems

Based on the random factors ignoring in vehicle system modeling, the stochastic dynamic model of vehicles is established on the base of Ito stochastic differential equation. The stochastic vehicle longitudinal following robustness control is studied by using sliding mode control. The variable structure robust control law for a class of random longitudinal vehicle following systems is designed on the assumption that parameters are bounded. According to the stability criterion of stochastic vehicle following systems, the stability of the control system is analyzed and the sufficient conditions of the system for convergence are obtained. The simulation results show that the robust control strategy proposed can achieve a satisfactory tracking performance and weaken the control chatter effectively.