强大的动态事件触发的滑动模式控制,用于智能电动汽车的横向动态
Zhi Liu1, Xing Chu2, Suqin Mao3
1Zhengzhou Electromechanical Engineering Research Institute, Zhengzhou, 450052, China.
Scientific reports
|July 3, 2025
概括
本研究介绍了智能电动汽车的动态事件触发控制系统,减少计算负载,同时保持强大的横向运动控制以防止干扰. 该方法确保了稳定性,并优化了能源效率的通信.
科学领域:
- 控制系统工程 控制系统工程
- 机器人技术 机器人技术 机器人技术
- 汽车工程 汽车工程
背景情况:
- 智能电动汽车 (IEV) 需要强大的横向运动控制系统.
- 现有的控制系统可能是计算密集型和通信繁重,影响能源效率.
- 有界匹配干扰对IEV的稳定性和性能构成挑战.
研究的目的:
- 开发一个动态事件触发机制,用于IEV的稳健的滑动模式控制.
- 为了减少能源受限制的车辆控制系统中不必要的计算和通信.
- 确保系统稳定性和稳健性,同时优化资源利用.
主要方法:
- 设计一个连续时间的强大的滑动模式控制器 (SMC) 来抑制干扰.
- 导出一种具有可指定事件间时间特征的新型动态事件触发规则.
- 使用Lyapunov理论进行稳定性分析,排除Zeno行为,并证明半全球强大的事件分离性质.
主要成果:
- 拟议的强大的SMC有效地抑制了边界匹配的干扰.
- 动态事件触发规则允许设计积极的最小事件间时间.
- 理论分析证实了系统稳定性和强大的事件分离,通过数值模拟进行验证.
- 在智能电动汽车超车场景中证明了有效性.
结论:
- 拟议的事件触发控制系统提高了IEV横向运动控制的稳定性和效率.
- 这是第一个在车辆控制中考虑稳定性和积极的最小事件间时间的稳定性研究.
- 该方法在降低能源受限系统的计算和通信负担方面提供了显著的优势.
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