Vehicle Path Tracking h∞ Control Method Based on State Feedback
A technology of state feedback and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of large impact on tracking accuracy, complex and unsuitable PID parameter adjustment, etc., to ensure accuracy and reliability. sexual effect
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[0094] Carsim and Simulink co-simulation implementation such as image 3 As shown, the vehicle model uses the existing ones in Carsim: C-Class, Hatchback model
[0095] C f = 21803, C r =21803, l f = 1.016m, l r =1.564m
[0096] I z =1536.7kgm 2 , V x =10m / s, m=1270kg
[0097] can get:
[0098]
[0099] Use the feasp method in the LMI toolbox to obtain a feasible solution:
[0100]
[0101] W * =[-3.7206 13.4245 -7.2804 38.0960]
[0102] K=W * (X * ) -1 =[-2.3394 0.0135 -3.1629 -0.0075]
[0103] The simulation results are shown in the figure Figure 4 shown.
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