Input saturation adaptive hierarchical control system and method for overdriven unmanned vehicle

Abstract

The invention discloses an input saturation adaptive hierarchical control system and method for an overdriven unmanned vehicle. The input saturation adaptive hierarchical control system is provided with a sensing module, an input saturation approximation module, an adaptive terminal neural sliding mode upper-level control module and a lower-level control distribution module. The upper-level control module comprises a parameter adjustment law, a neural network estimator and an adaptive terminal sliding mode controller. The control method comprises the following steps that the surrounding driving environment information and vehicle state information are collected, and a non-linear dynamic model describing the overdriven unmanned vehicle with saturated input and parameter uncertainty characteristics is established; the adaptive terminal neural sliding mode upper-level control module for the overdriven unmanned vehicle is designed to overcome nonlinearity and parameter uncertainty, and thegeneralized force / moment required by the motion of the overdriven unmanned vehicle is dynamically programmed; and a lower-level control distributor for the overdriven unmanned vehicle is designed based on tire load rate optimization, and the optimal tire force of each actuator is dynamically programmed according to the expected generalized force / moment given by the upper-level controller.

Description

technical field [0001] The invention relates to intelligent safety and automatic driving of automobiles, in particular to an adaptive hierarchical control system and method for solving input saturation of an overdriven unmanned vehicle with input saturation limitation. Background technique [0002] Unmanned vehicles can increase the safety of road traffic, improve the utilization rate of road networks, enhance road traffic capacity, reduce vehicle fuel consumption, and achieve environmental protection and energy saving. It is a research hotspot for governments and scientific research institutions around the world. [0003] Motion control is one of the core technologies for autonomous driving of unmanned vehicles. Its task is to make unmanned vehicles drive along the desired path based on a certain control strategy according to the vehicle's own state and position deviation information. Due to the characteristics of highly nonlinear dynamic characteristics and parameter uncer...

AI Technical Summary

Problems solved by technology

[0005] However, due to the physical limitation of overdriving the driverless vehicle actuator itself, the saturated control input will produce poor control effect and destroy the stability of the entire closed-loop path control system

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