通信受限的无人车辆鲁棒事件触发控制OA
Robust Event-triggering Control for Unmanned Vehicles with Limited Communication
面向无人车辆的自主导航需求,提出基于自适应事件触发机制的鲁棒路径跟踪控制方法.利用区间二型模糊模型对车辆横向动力学进行精确逼近,以处理复杂道路环境带来的强非线性和不确定性;引入自适应事件触发机制,通过动态调整触发阈值优化通信资源的利用效率,显著降低控制指令传输频率.基于李亚普诺夫稳定性理论和鲁棒H∞控制策略设计控制器,通过高保真驾驶仿真环境验证所提算法的优越性.
To satisfy the autonomous navigation requirements of unmanned vehicles,this study proposes a robust path-tracking control method based on an adaptive event-triggered mechanism.First,an interval type-2 fuzzy model is employed to accurately approximate the lateral dynamics of vehicles,effectively handling the strong nonlinearities and uncertainties induced by complex road environments.Second,an adaptive event-triggered mechanism is introduced to optimize the utilization efficiency of communication resources by dynamically adjusting triggering thresholds,significantly reducing the transmission frequency of control commands.A controller is designed based on Lyapunov stability theory and the robust H∞ control strategy.Finally,high-fidelity driving simulations verify the superiority of the proposed algorithm.
于星辉;李雪峰;丁嘉伟
郑州工业应用技术学院信息工程学院,郑州 451100河南工业大学人工智能与大数据学院,郑州 450000郑州工业应用技术学院信息工程学院,郑州 451100
自科综合
鲁棒H∞模糊控制路径跟踪通信受限事件触发
robust H∞fuzzy controlpath followinglimited communicationevent-triggered control
《火力与指挥控制》 2026 (7)
26-32,7
河南省教育厅高等教育教改项目(2024SJGLX0584)教育部产学合作协同育人基金资助项目(241101020182429)
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