控制理论(社会学)
加速度
计算机科学
控制器(灌溉)
偏航
航程(航空)
路径(计算)
非线性系统
控制(管理)
工程类
航空航天工程
人工智能
物理
程序设计语言
生物
经典力学
量子力学
农学
作者
Jonathan Y. Goh,Tushar Goel,J. Christian Gerdes
出处
期刊:Journal of Dynamic Systems Measurement and Control-transactions of The Asme
[ASME International]
日期:2019-11-21
卷期号:142 (2)
被引量:60
摘要
Abstract Professional drivers in drifting competitions demonstrate accurate control over a car's position and sideslip while operating in an open-loop unstable region of state-space. Could similar approaches help autonomous cars contend with excursions past the stable handling limits, thereby improving overall safety outcomes? As a first step toward answering that question, this paper presents a novel controller framework for automated drifting along a path. The controller is derived for the general case, without reference to a nearby equilibrium point. This leads to the physically insightful result that one can use the rotation rate of the vehicle's velocity vector to track the path, while simultaneously using the yaw acceleration to stabilize sideslip. Nonlinear model inversion, in concert with low-level wheelspeed control, is then used to achieve these required state derivatives over a broad range of conditions. Experiments on MARTY, a modified 1981 DMC DeLorean, demonstrate excellent tracking of a path with varying curvature, speed, and sideslip. Comparisons to a test run without wheelspeed control highlight the importance of accounting for the rear saturated-tire wheelspeed dynamics.
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