CAJ | 학술논문

基于车辆系统建模中忽略的随机因素，根据伊藤随机微分方程建立随机车辆动力学模型，运用滑模控制研究了具有鲁棒性的随机车辆纵向跟随控制。假设参数有界，设计了一类随机车辆跟随系统的变结构鲁棒控制规律。运用随机车辆跟随系统的稳定性判据分析了控制系统的稳定性，得到控制系统收敛的充分条件。数值仿真表明，根据所设计的鲁棒控制策略，既能达到满意的跟踪性能，又可以有效减弱控制抖动。
기우차량계통건모중홀략적수궤인소，근거이등수궤미분방정건립수궤차량동역학모형，운용활모공제연구료구유로봉성적수궤차량종향근수공제。가설삼수유계，설계료일류수궤차량근수계통적변결구로봉공제규률。운용수궤차량근수계통적은정성판거분석료공제계통적은정성，득도공제계통수렴적충분조건。수치방진표명，근거소설계적로봉공제책략，기능체도만의적근종성능，우가이유효감약공제두동。
Based on the random factors ignoring in vehicle system modeling, the stochastic dynamic model of vehicles is established on the base of Ito stochastic differential equation. The stochastic vehicle longitudinal following robustness control is studied by using sliding mode control. The variable structure robust control law for a class of random longitudinal vehicle following systems is designed on the assumption that parameters are bounded. According to the stability criterion of stochastic vehicle following systems, the stability of the control system is analyzed and the sufficient conditions of the system for convergence are obtained. The simulation results show that the robust control strategy proposed can achieve a satisfactory tracking performance and weaken the control chatter effectively.