摘要

In this article, an optimal robust constraint-following control is proposed for the underactuated vehicle path tracking problem. First, an underactuated dynamic model is established according to Udwadia-Kalaba (UK) equation, and the system uncertainty is decomposed into matching and mismatching portions based on the system geometric characteristics. The mismatching uncertainty is orthogonal to task space; thus, its influence on system stability is eliminated. Second, the diffeomorphism method is used to creatively set inequality and equality constraints into new equality constraints, and a robust control method for front steering vehicles with parameter-tunable is proposed. Third, an optimal design scheme is proposed for the tunable parameters to minimize the comprehensive index of system performance and control cost. Carsim-Simulink co-simulation shows the effectiveness of the proposed optimal robust control. This article creatively solves the problem of optimal robust control for path tracking of multi-constrained underactuated vehicles.

  • 单位
    清华大学; 武汉理工大学; 长安大学

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