论文部分内容阅读
以编队中各车辆的运动学模型为基础,在跟随领航者体系下建立新的车辆编队系统动态模型.设计带有固定离轴点的输入输出反馈线性化跟踪控制器,将跟随车辆与领航车辆的跟踪问题转化为特定误差系统的控制问题.利用图论将所设计的跟踪控制器扩展到车辆编队控制中,并对所设计的控制器在不同领航跟随关系下的编队控制效果进行仿真验证.
Based on the kinematics model of each vehicle in the formation, a new dynamic model of vehicle formation system was established under the pilot system.It was designed that the input-output feedback linearization tracking controller with a fixed off-axis point would follow the vehicle and the pilot vehicle The tracking problem is transformed into the control problem of a particular error system.The graph controller is used to extend the designed tracking controller into vehicle fleet control and the effectiveness of the proposed controller in formation control under different pilotage followings is verified.