| 四轮驱动车鲁棒轨迹跟踪控制器设计 |
| |
| 引用本文： | 矫德余.四轮驱动车鲁棒轨迹跟踪控制器设计[J].吉林大学学报(工学版),2011(Z2):301-305. |
| |
| 作者姓名： | 矫德余 |
| |
| 作者单位： | 中国北车股份有限公司大连电力牵引研发中心 |
| |
| 摘 要： | 建立了四轮驱动车运动学模型、带有不确定性的动力学模型和电机模型;利用反步设计方法设计运动学控制器、动力学控制器和电机控制器,实现了四轮驱动车鲁棒轨迹跟踪控制,且系统闭环渐进稳定。最后,通过仿真试验验证了所设计控制器的有效性。
|
| 关 键 词： | 自动控制技术 四轮驱动车 不确定性 反步设计 鲁棒控制 轨迹跟踪 |
Robust trajectory tracking control of four-wheel mobile car |
| |
| JIAO De-yu.Robust trajectory tracking control of four-wheel mobile car[J].Journal of Jilin University:Eng and Technol Ed,2011(Z2):301-305. |
| |
| Authors: | JIAO De-yu |
| |
| Affiliation: | JIAO De-yu(China CNR Co.,Ltd.,Dalian Electric Traction R&D Center,Dalian 116022,China) |
| |
| Abstract: | The kinematic model,dynamic model and motor model of mobile car were introduced.The kinematic controller,dynamic controller and motor controller were designed for the car with uncertainty by using backstepping method.Finally,the simulation and experiments show that the controllers are valid. |
| |
| Keywords: | automatic control 4-wheel mobile car uncertainty backstepping robust control trajectory tracking |
| 本文献已被 CNKI 等数据库收录！ |
