论文标题
具有结构稳定性的单轨模型的反馈线性化算法
A feedback linearisation algorithm for single-track models with structural stability properties
论文作者
论文摘要
本文提出了单轨动态模型的反馈线性化定律，从而设计了利用线性控制理论的轨迹跟踪控制器。该算法的主要特征是其简单性，其独立于任何车辆模型参数，除了质量中心的位置及其稳健性。特别是，数值分叉分析表明，对于质量偏差中心的物理有意义的值，平衡在结构上是渐近稳定的。还提出了有关线性化定律及其作为轨迹跟踪控制器内部环的应用的实验结果，也呈现了提案的有效性。
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its independence from any vehicle model parameter, apart from the position of the center of mass, and its robustness. In particular, a numerical bifurcation analysis demonstrates that, for physically meaningful values of the center of mass deviation, the equilibrium is structurally asymptotically stable. Experimental results, concerning the linearising law and its application as inner loop of a trajectory tracking controller, are also presented, confirming the effectiveness of the proposal.
