Research on trajectory tracking control strategy of slip-steering unmanned vehicle
A trajectory tracking control strategy is designed for the unmanned vehicle with slip-steering vehicle configuration.The vehicle dynamics and kinematics models were established,the LQR(Linear Quadratic Regulator)optimal control algorithm was improved,and the feed forward control with auto-skid resistance was used to supplement the speed loop.The feed forward control was designed to improve the yaw velocity response speed and optimize the parameter matrix of the LQR estimator,which ensured that the vehicle trajectory tracking control accuracy was improved while the following stability was not affected.Trucksim and Simulink co-simulation were used to verify the results.The results show that the maximum lateral error of the unmanned vehicle using the proposed control strategy is 0.086 m smaller than that under the dual-PID control,and the error convergence rate is about 2.1 s faster.The steady-state error amplitude is about 0.05 m smaller than that of sliding mode control.Under different road speeds and adhesion coefficients,the maximum lateral error floating of unmanned vehicle is less than 0.02 m,and the error convergence speed remains unchanged.The control effect of the proposed algorithm is stable and its robustness is verified.
slip-steeringtrajectory tracking controlLQR optimal control algorithmfeed forward controloptimal control
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