Unmanned vehicle path planning and tracking control method based on differential flatness and active-disturbance rejection

A technology of differential flatness and path planning, which is applied in two-dimensional position/channel control and other directions, and can solve the problem that the third-order polynomial approximation effect is not as good as it is

Inactive Publication Date: 2017-10-20
BEIJING INSTITUTE OF TECHNOLOGYGY
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The MATLAB simulation was carried out under the condition that the initial error of the model was large and there were internal disturbances (small angle omitted items) and external disturbances (longitudinal wind resistance and lateral gusts). The simulation results showed that the designed method achieved a good tracking effect, linear The

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  • Unmanned vehicle path planning and tracking control method based on differential flatness and active-disturbance rejection
  • Unmanned vehicle path planning and tracking control method based on differential flatness and active-disturbance rejection
  • Unmanned vehicle path planning and tracking control method based on differential flatness and active-disturbance rejection

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[0015] The present invention is described further below.

[0016] A kind of unmanned vehicle path planning and tracking control method based on differential flatness and active disturbance rejection of the present invention, comprises the following steps:

[0017] Step 1: Establish a three-degree-of-freedom underactuated monorail control model for a four-wheel-steering vehicle, described as follows:

[0018]

[0019] Among them, v x ,v y , r are the longitudinal, lateral and yaw angular velocities of the four-wheel steering vehicle respectively, f lf and f lr is the longitudinal force caused by the engine, braking torque and friction, given by:

[0020]

[0021] Among them, ε is the longitudinal comprehensive force f m The constant value distribution coefficient of the longitudinal force on the front and rear wheels, its value ranges from 0, that is, a rear-wheel drive vehicle, to 1, that is, a front-wheel drive vehicle. Here, considering the situation that the vehi...

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Abstract

The invention provides an unmanned vehicle path planning and tracking control method based on differential flatness and active-disturbance rejection and can improve the tracking effect of a four-wheel steering unmanned automobile during high-speed overtaking. The method is advantaged in that step 1, a three-degree-of-freedom four-wheel steering automobile monorail control model is established; step 2, based on the control model established in the step 1, according to the differential flatness theory, an under-actuated controlled model is converted into an input output coupling model having disturbance and having no zero dynamic subsystem; step 3, a path planning layer is established above a tracking control layer; and step 4, according to the input output coupling model based on the step 2, an active-disturbance rejection controller based on a generalized proportion integration observer is designed, and tracking of locus planned in the step 3 is realized.

Description

technical field [0001] The invention belongs to the field of path planning and tracking control of four-wheel steering vehicles, and relates to a path planning and tracking control method for unmanned vehicles based on differential flatness and active disturbance rejection. Background technique [0002] The four-wheel steering system (all-wheel steering system) is an important part of vehicle handling stability. It is characterized by the front and rear wheels turning in opposite phases at low speeds to reduce the turning radius; turning in the same phase at high speeds makes it easier to change lanes. Under the premise of continuous improvement of vehicle handling stability and vehicle intelligence requirements, the requirements for accurate trajectory planning and tracking control of reference trajectory (path planning) for four-wheel steering vehicles are becoming more and more urgent. [0003] Differential flatness theory is an effective way to solve the problem of under...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 夏元清张金会李春明付梦印李胜飞翟弟华柴森春
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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