基于补偿控制的无人地面车辆轨迹跟踪方法

A Trajectory Tracking Method for Unmanned Ground Vehicle Based on Compensation Control

摘要:

针对无人地面车辆轨迹跟踪精度不高,鲁棒性差的问题,提出了一种基于补偿控制的算法;该算法分为运动学和动力学两部分:基于方向角调整策略的运动学控制律能确保无人地面车辆有效跟踪参考轨迹；基于PD与模型参考模糊滑模自适应控制相结合控制的动力学控制律能有效补偿建模不精确和外界扰动带来的影响;仿真结果表明:该算法能够有效跟踪参考轨迹,控制量分配合理且鲁棒性较好。

Abstract:

Aiming at solving the problem of low accuracy and weak robustness in trajectory tracking, this paper presents a novel trajectory tracking control algorithm for unmanned ground vehicle based on compensation control. This algorithm is comprised of two parts:kinematic control and dynamic control. Based on the concept of orientation adjusting, the kinematic control law makes it possible for the unmanned ground vehicle to track a reference trajectory effectively;the dynamic control law based on a PD-model reference adaptive fuzzy sliding mode control (PD-MRAFSMC) method can compensate the influence brought about by extraneous disturbance and inaccurately modeling. The simulation results show that this novel algorithm can effectively track a given trajectory with reasonable controlled variables and good robustness. 