控制理论(社会学)
电动汽车
偏航
力矩(物理)
工程类
控制器(灌溉)
模糊控制系统
扭矩
欧拉角
模型预测控制
模糊逻辑
控制工程
计算机科学
控制(管理)
汽车工程
数学
人工智能
功率(物理)
物理
热力学
生物
经典力学
量子力学
农学
几何学
作者
Jinghua Guo,Yugong Luo,Keqiang Li,Yifan Dai
标识
DOI:10.1016/j.ymssp.2017.12.018
摘要
This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.
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