汽车纵向加/减速度多模型分层切换控制

针对汽车纵向动力学模型的大不确定性,设计了一种基于鲁棒控制理论的汽车纵向加速度多模型分层切换控制系统。通过分析汽车纵向动力学特性,用4个不确定模型覆盖对象不确定性,并应用LM I方法设计对应的鲁棒性能控制器集合。考虑鲁棒控制系统的特点,设计了一种对不确定性的系统增益进行估计的切换指标函数,以选择控制器进行控制。实验表明,提出的方法在大不确定性下可以对纵向加速度有效控制。

Multi-Model Hierarchical Switching Control of Vehicle Longitudinal Acceleration/Deceleration

To deal with the large uncertainties of the vehicle longitudinal model,a multi-model hierarchical switching control system for vehicle longitudinal acceleration/deceleration is designed based on robust control theory.After analyzing the vehicle longitudinal dynamics,four multiplicative-uncertainty models are built to cover the uncertainties of the controlled object.And LMI approach is adopted to design a correspongding robust performance controller set.Considering the features of the robust control system,a switching index function representing the gain of the uncertainty system estimated is introduced for selecting the proper controller.Experiment results show that the proposed method can effectively control the longitudinal acceleration/deceleration of the vehicle in the presence of large uncertaities.