Intelligent vehicle trajectory tracking control based on linear matrix inequality

被引：2

作者：

Wu H.-D. ^{[1
]}

Si Z.-L. ^{[1
]}

机构：

[1] State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun

来源：

Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2020年 / 54卷 / 01期

关键词：

Co-simulation; Linear matrix inequality (LMI); Poly-topic model; Saturated linear tire; Trajectory tracking;

D O I：

10.3785/j.issn.1008-973X.2020.01.013

中图分类号：

学科分类号：

摘要：

The traditional intelligent vehicle trajectory tracking controller based on precise mathematical model had the problems such as low tracking accuracy, weak robustness and difficult to adapt to the complex and changeable driving environment. An intelligent vehicle trajectory tracking control method was proposed based on linear matrix inequality (LMI) which had the advantages of easy to solve and strong anti-interference ability in order to solve these problems. The coordinate of vehicle lateral dynamic state space model was transformed to obtain the vehicle lateral dynamic state space model based on tracking error, and the vehicle lateral dynamics poly-topic model was got by using saturated linear tires. The LMI feedback controller was designed and the feedforward control amount was introduced in the controller to eliminate the lateral position steady error. The co-simulation of Carsim and Matlab/Simulink showed that the controller had high tracking accuracy and strong robustness to vehicle speed and road adhesion coefficient with ensuring vehicle stability. Results showed that the designed controller was better in trajectory tracking accuracy compared with the model predictive control (MPC) controller and preview driver model (PDM) controller. © 2020, Zhejiang University Press. All right reserved.

引用

页码：110 / 117

页数：7

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