多轮独立驱动差动转向无人车辆高速运动控制

项目名称： 多轮独立驱动差动转向无人车辆高速运动控制

项目编号： No.51475333

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 熊璐

作者单位： 同济大学

项目金额： 83万元

中文摘要： 多轮独立驱动差动转向无人车辆具有可靠性高、机动性强等诸多优势，有广泛的应用前景，已成为地面战争的重要装备。现代战争对此类车辆高速机动的能力提出了更高的需求，高速下该类型车辆的动力学具有强非线性、欠驱动、内动态不稳定的特征，基于非完整全驱动模型的运动控制不再适用，多轮独立驱动差动转向无人车辆高速运动控制这一关键技术问题仍未得到有效解决。 本项目通过分析控制分配优化目标与系统平衡点稳定性的关系，设计差动转向车辆非线性控制分配算法；采用分层控制方法，将控制系统分解为运动控制系统与动力学控制系统两个低维子系统的互联，探索保证其内动态稳定的高速路径跟踪控制方法；设计能够在车辆参数以及环境不确定的条件下鲁棒镇定高速运动车辆的控制算法，最终实现车辆在高速下的良好机动性与稳定性。 本项目将丰富差动转向车辆非线性动力学与运动控制理论，推动高速无人车辆技术应用与发展。

中文关键词： 差动转向无人车辆；多轮独立驱动；欠驱动机械系统；路径跟踪控制；非线性控制

英文摘要： Skid steering unmanned vehicles with multiple independent drive wheels are widely applied in various occasions including military operations thanks to their extraordinary reliability and maneuverability. The evolution of modern warfare rises the urgent demand for high speed and high mobility of unmanned ground vehicles. At high speed, the dynamics of skid steering vehicles becomes highly nonlinear, not affine in input with unstable internal dynamics, which makes fully actuated vehicle models based on non-holonomic constraints no longer applicable. The motion control of such vehicles at high speed, as a critical technical problem, remains unsolved. In this research we aim to design nonlinear control allocation algorithms based on the effect of optimization objectives on the stability of vehicle systems; adopt multi-layer control strategy and split the control system into two lower dimensional inter-connected subsystems, namely the motion control system and the dynamics control systems; innovate a path following control strategy with guaranteed stability of internal dynamics; synthesize a control algorithm that is capable of robustly stabilizing the pertaining vehicles at high speed in spite of uncertain parameters and environment and ultimately achieve excellent mobility and stability for vehicles at high speed. This research is expected to advance the technology of high-speed unmanned ground vehicles by laying new theoretical foundation for the dynamics and control of skid steering vehicles at high speed.

英文关键词： skid steering unmanned vehicle;multiple independent drive wheels;under-actuated mechanical systems;path following control;nonlinear control