Fixed-Time Prescribed Performance Path-Following Control for Autonomous Vehicle With Complete Unknown Parameters
Fixed-Time Prescribed Performance Path-Following Control for Autonomous Vehicle With Complete Unknown Parameters
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DOI：
10.1109/tie.2022.3210544
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发表时间：
2023
影响因子：
7.7
通讯作者：
Zhongchao Liang;Zhongnan Wang;Jing Zhao;P. Wong;Zhixin Yang;Zhentao Ding
中科院分区：
文献类型：
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作者：
Zhongchao Liang;Zhongnan Wang;Jing Zhao;P. Wong;Zhixin Yang;Zhentao Ding
本文研究了在预设误差约束下参数完全未知的自主地面车辆 (AGV) 的固定时间路径跟踪控制问题。在收敛路径跟踪误差之前，开发了固定时间规定性能控制（PPC）协议，以保证所选非奇异滑动流形在预设边界内演化。然后，通过满足参数不等式即可实现AGV预览误差的固定时间PPC目标。此外，设计的自适应律可以在不知道车辆参数的情况下保证控制精度。最后，多种操纵条件的硬件在环测试表明，所提出的固定时间PPC协议可以为AGV提供优于传统固定时间控制器的综合路径跟踪性能，并且预览误差永远不会违反规定的性能约束。
This article investigates the issue of fixed-time path-following control for autonomous ground vehicles (AGVs) with completely unknown parameters subject to preset error constraints. Before converging the path-following errors, a fixed-time prescribed performance control (PPC) protocol is developed to guarantee the selected nonsingular sliding manifold evolving within the preset boundaries. Then, the fixed-time PPC target for the preview error of the AGV can be achieved by satisfying the parameter inequality. Furthermore, the designed adaptive laws can ensure the control accuracy without knowledge of vehicle parameters. Finally, the hardware-in-the-loop tests of multiple maneuvering conditions demonstrate that the proposed fixed-time PPC protocol can provide superior comprehensive path-following performance for the AGV over the conventional fixed-time controller, and the preview error can never violate the prescribed performance constraints.