Adaptive control method for electric vehicles with uncertain centroid and unknown input saturation

Abstract

The invention relates to a self-adaptation control method for an electric vehicle for uncertain barycenter and unknown input saturation. The method comprises the following steps: 1) establishing a mathematical model for an electric vehicle system containing uncertain barycenter and longitudinal sliding / lateral sliding; 2) using a smooth functional approximation executor for saturating, considering an executor fault and applying to a state space expression; 3) designing and outputting a limited robust adaptive controller for controlling a motion track of the electric vehicle. According to the invention, the uncertain influence caused by the uncertain barycenter of the electric vehicle can be coped with; the control problem caused by the uncertain barycenter can be solved; the unknown executor nonlinear saturated characteristics can be smartly treated; the control problem caused by the asymmetrical saturation can be solved; when the executor is in fault, the electric vehicle still can move along the expected track; the motion track of geometric center position of the electric vehicle can be limited within a track scope which is given in advance, and meanwhile, the design steps of the controller are simplified and the controller is user-friendly.

Description

technical field [0001] The invention relates to the technical field of autonomous driving control of electric vehicles, in particular to a robust adaptive control method for electric vehicles with uncertain centroid and unknown input saturation. Background technique [0002] Most of the existing researches on the route control design of autonomous driving of electric vehicles are based on the assumption that the center of mass is determined and does not change during operation. However, in practical applications, due to the influence of external factors (such as: the increase and decrease of the weight of the load; the rotation of the load of the mechanical arm of the car body, etc.), the position of the center of mass of the electric vehicle is difficult to determine and the center of mass is likely to slip. Therefore, in order to reflect the actual operation of electric vehicles more realistically, it is necessary and meaningful to establish a mathematical model that can r...

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Problems solved by technology

[0006] In view of this, in order to solve the existing problems described above, the purpose of the present invention is to provide an electric vehicle adaptive control method for uncertain centroid and unknown input saturation, so that the controller can handle the unknown actuator asymmetric saturation problem, The unknown actuator failure problem limits the running trajectory of the electric vehicle within the required range, and overcomes the uncertain nonlinear influence from the outside such as vertical slip and side slip friction

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