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针对智能小车在各种复杂环境中探测外界信息的控制问题,将滑模控制算法引入到智能小车轨迹跟踪控制中。同时针对外界干扰、摩擦等因素引起的非线性问题,研究其轨迹跟踪控制问题,建立智能小车运动学模型和运动学方程。为了验证控制算法的有效性,将算法控制器应用于Quanser公司推出的智能小车上进行仿真;仿真结果表明,控制算法的误差小,稳定性高,有效实现了轨迹跟踪。
In order to solve the control problem of intelligent vehicles in detecting various kinds of complex information, the sliding mode control algorithm is introduced into the tracking control of intelligent vehicles. At the same time, aiming at the non-linear problems caused by external disturbances, friction and other factors, the problem of trajectory tracking control is studied and the kinematics model and kinematics equation are established. In order to verify the effectiveness of the control algorithm, the algorithm controller is applied to the intelligent car introduced by Quanser for simulation. The simulation results show that the control algorithm has small error and high stability, and effectively implements the trajectory tracking.