Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper demonstrates that an integrated multi-tiered steering controller considering the impact of slip on kinematic control, dynamic control, and steering actuator rate commands achieves accurate and graceful path following. This work is founded on multi-tiered sideslip and yaw-based models, which allow derivation of controllers considering error due to sideslip and the mapping between steering commands and graceful lateral motion. Observer based sideslip estimates are combined with heading error in the kinematic controller to provide feedforward slip compensation. Path following error is compensated by a continuous Variable Structure Controller (VSC) using speed-based path manifolds to balance graceful motion and error convergence. Resulting yaw rate commands are used by a backstepping dynamic controller to generate steering rate commands. A High Gain Observer (HGO) estimates sideslip and yaw rate for output feedback control. Stability analysis of the output feedback controller is provided, and peaking is resolved. The work focuses on lateral control alone so that the steering controller can be combined with other speed controllers. Field results provide comparisons to related approaches demonstrating gracefulness and accuracy in different complex scenarios with varied weather conditions and perturbations.
翻译:由于这些要求具有竞争性质,特别是在一系列操作速度和条件下,综合多层制导控制器考虑到滑动对运动控制、动态控制和导导动器速度指令的影响,在遵循精度和误差趋同和方向控制优雅运动之间实现平衡的路径上取得平衡是具有挑战性的。这项工作以多层的侧边翻和亚线基模型为基础,使控制器能够考虑到因侧翻和方向指令与优雅横向运动之间的映射而导致的差错。根据观察员的侧翻估计数与运动控制器中的主要错误相结合,以提供进化滑动补偿。一个连续的变量结构控制器(VSC)利用基于速度的导动控制器来补偿错误发生后的道路,以平衡优雅的动作和误差趋同。根据一个反向的动态控制器使用亚线率指令来产生导速率指令。一个高收入观察员(HGO)估算了输出反馈控制器和优雅平流率控制器之间的差错差。提供了产出反馈控制器的稳定分析,并实现了峰定时的峰化。工作以连续的优雅性比较方式展示了方向控制器的进度,从而展示了不同的进度。