J_2010_控制理论与应用_非奇异快速的终端滑模控制方法及其跟车控制应用.pdf

27 5 Vol. 27 No. 5 2010 5 Control Theory Applications May 2010 :2010 , , , (, 100084) : , . (TSM) , , . ; , , ; , . , , , , . : ; ; ; : TP13 : A Nonsingular fast terminal-sliding-mode control method and its application on vehicular following system LI Sheng-bo, LI Ke-qiang, WANG Jian-qiang, YANG Bo (State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China) Abstract: In a minimum-sensor vehicular following system, the slow convergence of tracking errors and low robustness to preceding vehicle’s disturbance are two key issues. Based on the terminal-sliding-mode(TSM) control method, this paper presents a vehicular following controller with nonsingular control input and fast convergent characteristic, and realizes its application on practical vehicular following. First, we review the fundamentals of the existing nonsingular fast TSM control method. Then, by analyzing the characteristic of a minimum-sensor vehicular following system, a two-state space model including vehicular and intervehicular longitudinal dynamics is built and its vehicular following controller is designed using the reviewed method above. Further, the fast convergent characteristic of the closed-loop system on both sliding phase and reaching phase is realized; and its strong robustness to the disturbance from the preceding vehicle’s accelerat- ing/decelerating process is also established. Simulations and experiments indicate that this controller smoothly regulates the continuous-time throttle opening, realizing a fast and stable vehicular following process with a high robustness to the bo