基于ＲＢＦ神经网络滑模控制的车辆横向控制研 究

摘要：

本文提出了一种基于RBF神经网络滑模控制的车辆横向控制方法。首先，建立了车辆动力学模型和横向运动方程，然后利用RBF神经网络对车辆横向运动进行建模，得到了车辆横向运动的非线性函数关系。接着，采用滑模控制技术进行车辆横向控制，通过引入一个滑模面，将车辆横向控制问题转化为滑模面上的控制问题，并设计了控制律使车辆横向运动能够在滑模面上稳定运动。最后，利用Matlab/Simulink仿真验证了该方法的有效性和可行性。

关键词：RBF神经网络；滑模控制；车辆横向控制；仿真

Abstract：

This paper proposes a vehicle lateral control method based on RBF neural network sliding mode control. Firstly, the vehicle dynamic model and lateral motion equation are established, and then the RBF neural network is used to model the lateral motion of the vehicle, and the nonlinear function relationship of the lateral motion of the vehicle is obtained. Then, the sliding mode control technology is used to control the lateral motion of the vehicle. By introducing a sliding mode surface, the lateral control problem of the vehicle is transformed into a control problem on the sliding mode surface, and a control law is designed to make the lateral motion of the vehicle stable on the sliding mode surface. Finally, the effectiveness and feasibility of the method are verified by Matlab/Simulink simulation.

Keywords: RBF neural network; sliding mode control; vehicle lateral control; simulation