Pseudo-decoupling controller and control method for four-wheel steering smart car

Abstract

The invention discloses a pseudo-decoupling controller for a four-wheel-steering intelligent vehicle and a control method thereof. On the basis of intelligently sensing the external environment and observing internal parameters, the original model of the four-wheel-steering intelligent vehicle is first established, and then the right inverse model is established. Placed in series on the left side of the original model, the original model of the four-wheel steering smart car and the right inverse model together constitute a pseudo-decoupling system; then a finite-time stability model of the four-wheel steering smart car is established for the limited Observation of time stability, and then establish a finite time model mismatch degree model of four-wheel steering smart car, which is used to observe the degree of mismatch between the original model of four-wheel steering smart car and the right inverse model, and finally design the steering control decision-making module, according to the external environment perception And internal parameter observation, as well as the two characteristic parameters of finite-time stability and finite-time model mismatch degree, make a decision on whether to steer and control parameters, and improve the steering control performance and intelligence level of four-wheel steering intelligent vehicles.

Description

technical field [0001] The invention relates to the field of steering control of a four-wheel-steering intelligent vehicle, in particular to a pseudo-decoupling controller and a control method for a four-wheel-steering intelligent vehicle based on finite time stability and model mismatch. Background technique [0002] The four-wheel steering smart car is a smart car with front and rear tires that can perform steering functions. It is a high-tech product based on environmental perception, computer, automation and artificial intelligence. It has the characteristics of high sensitivity at low speed steering and good maneuverability at high speed steering. In the future, It will effectively solve the problems of stability, safety, flexibility, energy saving and environmental protection for the automotive industry, such as stability judgment under intelligent driving conditions, accident avoidance and fuel consumption reduction, and more flexible driving strategies, such as four-w...

AI Technical Summary

Problems solved by technology

[0003] In the dynamic model of the four-wheel steering smart car, there are strong couplings of lateral velocity and yaw angular velocity, time-varying parameters such as front wheel cornering stiffness, rear wheel cornering stiffness, and longitudinal velocity, and unstructured parameters such as the steering system and suspension system. Modular dynamics, the steering control of four-wheel steering intelligent vehicles is a control problem with strong coupling, multiple time-varying parameters and unmodeled dynamics

The traditional four-wheel steering control method does not coordinate well to solve the characteristic problems of stability changes and model mismatches caused by variable coupling and time-varying parameters, and rarely pays attention to the impact of parameter changes on the controlled system while realizing decoupling control. influence, or design a decoupling controller based on an invariant parameter model of the controlled system, without considering the stability changes and model mismatch problems caused by parameter changes and unmodeled dynamics in the controlled system

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