Finite time tracking compound control method for unmanned vehicle

Abstract

The invention discloses a finite time tracking compound control method for an unmanned vehicle, and belongs to the field of unmanned vehicle trajectory tracking. The method comprises the following steps: establishing an unmanned vehicle attitude coordinate error model; constructing a finite time controller and a nonlinear disturbance observer according to the unmanned vehicle attitude coordinate error model; and coupling the finite time controller with the nonlinear disturbance observer to obtain a composite controller, and controlling the unmanned vehicle according to the composite controller. Aiming at the problem that the existing unmanned vehicle trajectory tracking control precision is low, the invention provides the finite time tracking compound control method of the unmanned vehicle, by constructing a finite time controller and a nonlinear interference observer, the interference of external factors on the unmanned vehicle is effectively avoided, and the tracking control precision of the unmanned vehicle is further improved.

Description

technical field [0001] The invention belongs to the technical field of trajectory tracking of unmanned vehicles, and more specifically relates to a finite-time tracking compound control method of unmanned vehicles. Background technique [0002] With the development of the automobile industry, people's requirements for intelligent vehicles are also increasing. The development of automobile intelligence can not only liberate people's hands, but also help traffic safety. Cars are typical non-holonomic constrained systems. Trajectory tracking control is the most basic and important part of driverless car research. Vehicles must not only drive according to preset paths, but also ensure driving accuracy and stability. [0003] In the unmanned vehicle trajectory tracking control system, due to the existence of unknown external interference and the instability of the system itself, there is always an error between the actual trajectory and the expected trajectory of the unmanned ve...

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Problems solved by technology

[0007] Aiming at the problem of low accuracy of trajectory tracking control of existing unmanned vehicles, the present invention provides a finite-time tracking composite control method for unmanned vehicles. By constructing a finite-time controller and a nonlinear disturbance observer, external factors are effectively avoided Interference to the unmanned vehicle, thereby improving the tracking control accuracy of the unmanned vehicle

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