基于双率采样的智能车辆直道轨迹跟踪控制.pdfVIP

第 39 卷第 2 期 2017 年 3 月 Vol.39 No.2 Journal of Tangshan Normal University Mar. 2017 基于双率采样的智能车辆直道轨迹跟踪控制 孙 娜，李晓芳，王 娜 （山西工商学院基础教学部，山西 太原 030006 ） 摘 要：针对直道上智能车辆在行驶过程中存在随机干扰的问题，基于传感器采样周期的不同，引入双率 采样方案，建立状态补偿机制以小采样周期重构系统状态，设计了基于双率采样的切换控制器。在 Matlab/ Simulink 环境下，对汽车模型的路径跟踪控制进行仿真，验证了基于双率采样切换控制方案的合理和有效性。 关键词：智能车辆控制；轨迹跟踪；双率采样；切换控制；Lyapunov 稳定性；线性矩阵不等式（LMI ）； H 控制  O23 A 1009-9115(2017)02-0057-05 中图分类号： 文献标识码： 文章编号： DOI ：10.3969/j.issn.1009-9115.2017.02.017 Trajectory Tracking Control of an Intelligent Vehicle on Straight Lane via Dual-Rate Sampling SUN Na, LI Xiao-fang, WANG Na (Department of Basic Education, Shanxi Technology and Business College, Taiyuan 030006, China) Abstract: This paper investigates the trajectory tracking control problems of the intelligent vehicle via dual-rate sampling on straight way. Considering the random disturbance existed in the driving process of the vehicle, it introduces the multi-rate sampling scheme based on the different sampling period of sensors, and establishes state compensation mechanism to reconstruct the system state based on small sampling period and designs switching state feedback controller based on dual-rate sampling. Finally, the simulation of the trajectory tracking control by a Matlab/Simulink illustrates the rationality and effectiveness of the proposed switched control method which based on multi-rate sampling. Key Words: intelligent vehicle control; trajectory tracking; dual-rate sampling; switching control; Lyapunov stability; linear matrix inequ