کنترل بهینه مقاوم دینامیک عرضی وسایل نقلیه خودران با رویکرد برنامه‌ریزی پویای تطبیقی
محورهای موضوعی : مهندسی برق و کامپیوترمحمدرضا ساطوری 1 , ابوالحسن رزمی نیا 2 , آرش مرعشیان 3
1 - دانشگاه تهران
2 - دانشگاه خلیج فارس
3 - دانشگاه خلیج فارس بوشهر
کلید واژه: بازی مجموع- صفربرنامه‌ریزی پویای تطبیقیکنترل بهینهکنترل پیش‌گامکنترل عرضی خودرو,
چکیده مقاله :
در اين مقاله کنترل دینامیک عرضی خودرو با سرعت طولی ثابت، با استفاده از برنامه‌ریزی پویای تطبیقی، کنترل پس‌گام و نظریه بازی‌های مجموع- صفر بررسی شده است. دینامیک به صورت غیر خطی در نظر گرفته شده و گشتاور فرمان به جای زاویه فرمان به عنوان ورودی قرار گرفته است. در روش ارائه‌شده ابتدا دینامیک عرضی خودرو به همراه دینامیک نگهداری خط ادغام شده و تشکیل یک زیرسیستم می‌دهند که ورودی آن زاویه فرمان است و انحنای جاده به عنوان اغتشاش در نظر گرفته شده است. با استفاده از برنامه‌ریزی پویای تطبیقی، شبکههای عصبی و نظریه بازی‌های مجموع- صفر برای این زیرسیستم، قانون کنترل بهینه استخراج شده و سپس نتیجه به زیرسیستم دوم که همان دینامیک زاویه فرمان خودرو است اعمال می‌گردد که در آن قانون کنترل با استفاده از روش کنترل پس‌گام استخراج می‌شود. در پایان به منظور مشاهده کارایی الگوریتم ارائه‌شده، روش مذکور بر روی یک مدل، شبیه‌سازی می‌شود.
Lateral vehicle’s control with constant longitudinal velocity using adaptive dynamic programming, backstepping and zero-sum games theory is investigated in this paper. The nonlinear dynamics is considered and the steering torque is chosen to be the control input instead of the steering angle. At first, a subsystem is created by augmenting the lateral vehicle’s dynamics with lane keeping ones considering the steering angle as the control input and the road curvature as a disturbance. Utilizing adaptive dynamic programming, neural networks and zero-sum games theory, the optimal control law is obtained and then, the results exerted on the second subsystem which is the dynamics of the steering angle and a control law is captured for which using the backstepping control method. Finally, performance of the proposed algorithm is demonstrated by applying it on a typical vehicle model.
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