基于三自由度的智能汽车模糊滑模横向运动控制研究

针对智能汽车运动过程中存在的车身姿态变化问题以及运动控制精度问题，设计了一种基于非线性3自由度动力学模型的模糊滑模横向运动控制器。建立了包括侧倾运动的3自由度动力学模型，进行了模型线性化；对基于线性化处理后的动力学模型进行了滑模控制器设计，通过控制前轮转角实现了路径跟踪横向控制，并引入了模糊控制提高控制效果，本控制系统能够在跟踪过程中对车身姿态变化进行观察。仿真结果表明，搭建的基于3自由度动力学模型的模糊滑模控制器能够在考虑侧倾运动的基础上，实现路径跟踪，且构建的模糊滑模控制系统相较于传统滑模控制其横向偏差与方向偏差分别降低了7.28%和1.50%，同时模糊控制也减弱了滑模控制固有的抖振影响。

Fuzzy Sliding Mode Control of Smart Car for Lateral Motion Tracking Based on Three-Degree of Freedom Dynamics Model

Considering car-body attitude change and motion control accuracy for the smart car, a fuzzy sliding mode controller for lateral motion tracking was designed based on a nonlinear dynamics model.Initially a three-degree-of-freedom dynamics model including roll motion was established and linearized. And then a sliding mode controller was designed on the basis of the linearized dynamics model, and the lateral path tracking was achieved by controlling the front wheel angle. Fuzzy control was introduced to improve the control performance and finally the control system could observe the car-body posture changes during the tracking process. The simulation results show that the designed controller has good path tracking performance. Compared with the traditional sliding mode controllers, the proposed controller reduces the lateral deviation and directional deviation by 7.28% and 1.50% respectively with increased tracking accuracy. Meanwhile the inherent chattering phenomenon in the sliding mode control has been reduced due to fuzzy control.