姜立标,吴中伟.基于趋近律滑模控制的智能车辆轨迹跟踪研究[J].农业机械学报,2018,49(3):381-386. JIANG Libiao,WU Zhongwei.Sliding Mode Control for Intelligent Vehicle Trajectory Tracking Based on Reaching Law[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(3):381-386.
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Abstract:The existing intelligent vehicle trajectory tracking controller have the problems such as low tracking accuracy and weak robustness. In order to solve these problems and improve track tracking effect, a sliding mode control method based on a new reaching law was proposed because the sliding mode control had the advantages of quick response and strong anti-interference ability. The new reaching law was the combination of a special function and a inverse hyperbolic sine, which made sure that the system state can approach the sliding surface quickly whether it was near the sliding surface or not. The law really avoided the shortcoming of the traditional algorithms and improved the approaching speed of the controlled system and limited the vibration. The controller that used this method can control the vehicle to track the reference trajectory quickly. In order to prove the effectiveness of this method, a vehicle kinematics model was built and the trajectory simulation experiment was carried out in Simulink to compare the control effect of the new reaching law with the double power reaching law. The results of the simulation verified that the new reaching law had higher approaching speed and weaker vibration and it had better control effect. Controlled by the sliding mode control method based on the new reaching law, the convergence speed of horizontal and vertical errors of the vehicle kinematics model was significantly increased, the vibration of course angle error became weak, and the vehicle kinematics model can track the trajectory faster. |
Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.
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