使用新型非线性映射对未经调整的无人驾驶地表车辆进行约束控制,侧滑角度未知
Haiyan Tong1, Mingxiao Sun1, Taintian Luan1
1School of Automation, Harbin University of Science and Technology, Harbin, 150080, China.
ISA transactions
|July 14, 2023
概括
本研究提出了一种新的指导和控制方法,使未经调节的无人地面车辆 (USV) 能够遵循曲线路径,尽管存在状态约束和输入和. 这种方法确保了精确的路径跟随有边界误差,即使是未知的参数.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 海洋工程 海洋工程
背景情况:
- 由于状态约束和输入和,未更新的无人地面车辆 (USV) 在路径上面临挑战.
- 准确的轨迹跟踪对于USV操作至关重要,但由于未知的侧滑角度和交叉跟踪错误等因素而复杂化.
研究的目的:
- 制定一个强有力的指导和控制策略,让低精度的USV遵循参数化的曲线路径.
- 为了解决状态约束,输入和,未知的侧滑角度和交叉跟踪错误约束所造成的限制.
主要方法:
- 设计了一个新的视线 (LOS) 指导法,包括侧滑角度补偿.
- 引入了一个非线性映射 (NM) 函数,以将受约束的子系统转换为不受约束的子系统.
- 开发了自适应模糊控制规律,以管理未知的干扰和输入和.
- 输入到状态稳定性理论用于理论分析.
主要成果:
- 拟议的指导法有效地引导USV在指定错误范围内到所需的路径.
- 非线性映射成功地将受约束的控制问题转换为不受约束的问题.
- 适应性模糊控制实现了尽管系统不确定性和和期望的路径遵循目标.
- 理论分析证实了跟踪错误的局限性.
结论:
- 开发的指导和控制算法在复杂的路径后续场景中,证明了对未达标的USV的有效性.
- 该方法为在状态约束和输入和下运行的USV提供了强大的解决方案.
- 数字模拟验证了拟议方法的实际适用性和性能.
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