Zhang Yu, Pei Wenhui, Zhang Qi, Ma Baosen
School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China.
School of Control Science and Engineering, Shandong University, Jinan 250061, China.
Sensors (Basel). 2023 Aug 5;23(15):6975. doi: 10.3390/s23156975.
To ensure the accuracy and stability of intelligent-vehicle-trajectory tracking, a robust trajectory-tracking control strategy based on generalized Hamilton theory is proposed. Firstly, a dynamic Hamilton dissipative controller (DHDC) and trajectory-tracking Hamilton dissipative controller (TTHDC) were designed based on the established vehicle-dynamics control system and trajectory-tracking control system using the orthogonal decomposition method and control-switching method. Next, the feedback-dissipative Hamilton realizations of the two systems were obtained separately to ensure the convergence of the system. Secondly, based on the dissipative Hamilton system designed by TTHDC, a generalized Hamilton robust controller (GHRC) was designed. Finally, the co-simulation of Carsim and MATLAB/Simulink was used to verify the effectiveness of the three control algorithms. The simulation results show that DHDC and TTHDC can achieve self-stabilizing control of vehicles and enable certain control effects for the trajectory tracking of vehicles. The GHRC solves the problems of low tracking accuracy and poor stability of DHDC and TTHDC. Compared with the sliding mode controller (SMC) and linear quadratic regulator (LQR) controller, the GHRC can reduce the lateral error by 84.44% and the root mean square error (RMSE) by 83.92%, which effectively improves the accuracy and robustness of vehicle-trajectory tracking.
为确保智能车辆轨迹跟踪的准确性和稳定性，提出了一种基于广义哈密顿理论的鲁棒轨迹跟踪控制策略。首先，基于建立的车辆动力学控制系统和轨迹跟踪控制系统，采用正交分解法和控制切换法设计了动态哈密顿耗散控制器（DHDC）和轨迹跟踪哈密顿耗散控制器（TTHDC）。其次，分别获得了两个系统的反馈耗散哈密顿实现，以确保系统的收敛性。其次，基于TTHDC设计的耗散哈密顿系统，设计了广义哈密顿鲁棒控制器（GHRC）。最后，利用Carsim和MATLAB/Simulink进行联合仿真，验证了三种控制算法的有效性。仿真结果表明，DHDC和TTHDC能够实现车辆的自稳定控制，并对车辆轨迹跟踪具有一定的控制效果。GHRC解决了DHDC和TTHDC跟踪精度低、稳定性差的问题。与滑模控制器（SMC）和线性二次调节器（LQR）控制器相比，GHRC可将横向误差降低84.44%，均方根误差（RMSE）降低83.92%，有效提高了车辆轨迹跟踪的精度和鲁棒性。
