Integral Sliding Mode-Based Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Vehicles
Integral Sliding Mode-Based Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Vehicles
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DOI：
10.1109/tte.2016.2537046
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发表时间：
2016-06-01
影响因子：
7
通讯作者：
Yan, Fengjun
中科院分区：
文献类型：
--
作者：
Hu, Chuan;Wang, Rongrong;Yan, Fengjun
针对四轮独立驱动（FWIA）自主车辆，提出了一种基于主动前轮转向（AFS）和直接横摆力矩控制（DYC）的路径跟踪控制方法。通过将横摆角速度和横向速度同时收敛到根据路径跟踪需求产生的期望值，实现路径跟踪。提出了一种新的基于积分滑模（ISM）的复合非线性反馈（CNF）控制方法，该方法考虑了多输入多输出和时变跟踪参考，结合了CNF控制在改善系统瞬态性能方面的优势和ISM控制在保证系统鲁棒性方面的优势。基于多变量超扭算法（STA），采用连续ISM控制器代替通常采用的不连续控制器，避免了颤振。在ISM-CNF控制器设计中综合考虑了系统不确定性、轮胎前饱和和期望路径曲率的变化，并利用李雅普诺夫方法证明了整个系统的稳定性。通过CarSim-Simulink仿真验证了所设计的控制器在改善瞬态路径跟踪性能、抑制超调、消除稳态误差以及抑制轮胎力饱和和路径曲率变化时的集总干扰等方面的有效性。
This paper presents an accurate, fast, and robust path-following control approach for four-wheel independently actuated (FWIA) autonomous vehicles via integrated control of the active front-wheel steering (AFS) and direct yaw-moment control (DYC). The path following is realized through simultaneously converging the yaw rate and lateral velocity to their respective desired values which are generated according to the path-following demand. A novel integral sliding mode (ISM)-based composite nonlinear feedback (CNF) control technique considering the multi-input multi-output and the time-varying tracking reference is proposed, which has combined the advantages of CNF control in improving the transient performance and ISM control in guaranteeing good robustness. Chattering is avoided using a continuous ISM controller instead of generally adopted discontinuous ones based on a multivariable super-twisting algorithm (STA). System uncertainties, tire fore saturations, and variation of the desired-path curvature are compositively considered in the ISM-CNF controller design, with the stability of the overall system proved using Lyapunov method. CarSim-Simulink simulations have verified the effectiveness of the proposed controller in improving the transient path-following performance, inhibiting the overshoots, eliminating the steady-state errors, and rejecting the lumped disturbance considering the tire forces saturations and the varying path curvature.