sua3-4 - jst
TRANSCRIPT
1 ç· èš
è¿å¹ŽïŒå茪è»äž¡ã«é¢ããç 究ãçãã«è¡ããïŒåžè²©ã®èªåè»ã«èªåé転æè¡ãå®è£ ããã¯ãããŠããïŒãããïŒè»äž¡ãç®çã®äœçœ®ãžç§»åãããå¶åŸ¡ç³»èšèšãèãããšãïŒå茪è»äž¡ã¯éãããããã¯ãªæ§è³ªãæã¡ïŒéçé£ç¶ãã£ãŒãããã¯ã«ããå®å®åãã§ããªã1)ããïŒäžè¬ã«å¶åŸ¡èšèšã¯å°é£ã§ããïŒãã®ããïŒåŸæ¥ç 究ãšããŠïŒååšæè¿œåŸã«ããèªåé§è»2)ãæé軞ç¶æ å¶åŸ¡åœ¢ã«ããå®å®å3),4)ïŒãã©ãããã¹çè«5)ã«ããè¿œåŸå¶åŸ¡ãææ¡ãããŠããïŒååšæè¿œåŸå¶åŸ¡ã¯ç°¡äŸ¿ãªç®æšè»éãèšå®ãïŒè»éããã®åå·®ãå®å®åããããšã§ç®æšåº§æšãžåæãããææ³ã§ããïŒèšèšãæ¯èŒç容æã§ããïŒãããïŒç®æšè»éãåè»éãšãªãããïŒé§è»ã¹ããŒã¹ãéãããå Žåãªã©ïŒé©åãªçµç±ç¹ãèšå®ããå¿ èŠãããïŒæé軞ç¶æ å¶åŸ¡ã¯ïŒéãããããã¯ã·ã¹ãã ã«å¯ŸããŠæå¹ãªææ³ãšããŠç¥ãããŠããïŒãããïŒè»äž¡ã®ç¶æ å€æ°ã®äžéšãæé軞ãšèŠç«ãŠããã®ã§ããããïŒè»äž¡ã®é§è»ãèããå ŽåïŒãã®é§è»è»éãå¶çŽãããïŒãã©ãããã¹çè«ã¯éç·åœ¢ã®ã·ã¹ãã ã«å¯ŸããŠïŒåº§æšå€æãšãã£ãŒãããã¯ãæœãããšã«ããïŒç䟡ãªç·åœ¢ã·ã¹ãã ãžãšå€æããææ³ã§ããïŒå€æåŸã®ç·åœ¢ã·ã¹ãã ã«å¯ŸããŠå®å®åå¶åŸ¡ç³»ãèšèšãïŒå€æåã®åº§æšã«æ»ãããšã§å®å®åãéæãããïŒãããïŒå€æåŸã®ã·ã¹ãã ã«å¯ŸããŠæé©ãªèšèšãè¡ã£ããšããŠãïŒå€æåã®ã·ã¹ãã ã«å¯Ÿããæé©æ§ã¯ä¿èšŒãããªãç¹ã«æ³šæãå¿ èŠã§ããïŒ
ãŸãïŒå®éã®ç°å¢ã«ãããŠã¯ã¢ãã«å誀差ãå€ä¹±ãååšããããïŒå®å šæ§ã®åäžã®ããã«ããã¹ããªå¶åŸ¡ç³»èšèšã¯éèŠãªèª²é¡ã§ããïŒäžè¬ã«ããã¹ãæ§ãæã€ãšãããå¶åŸ¡ç³»èšèšãšããŠïŒã¹ã©ã€ãã£ã³ã°ã¢ãŒãå¶åŸ¡ïŒSMCïŒ6)ãå€ä¹±ãªãã¶ãŒã7),8)ãããïŒSMCã¯éç·åœ¢ã·ã¹ãã ã察象ãšããããã¹ãèšèšææ³ãšããŠå®çšæ§ãé«ãåºãçšããããŠããïŒãããïŒSMCã®ããã¹ãæ§ã¯ãªã¬ãŒå ¥åã®ã²ã€ã³ã«äŸåãããïŒå ¥åå¶çŽãååšãããšãã²ã€ã³èšèšã¯å°é£ãšãªãããšãããïŒäžæ¹ïŒå€ä¹±ãªãã¶ãŒãã¯ïŒæ³å®ãããæªç¥ã®äžç¢ºãããæšå®ããããšã«ãã察åŠããããšããèãæ¹ã§ããïŒããã«ïŒããããã¹ãæ§ãåäžãããããšãç®çãšããŠã¢ãã«äºæž¬å¶åŸ¡ïŒMPCïŒ9)ãšSMCãçšããå¶åŸ¡åãææ¡ãããŠãã10)ïŒ
æ¬ç 究ã§ã¯å€ä¹±ã®åœ±é¿ã軜æžãããã¹ãæ§ã®åäžãç®çãšããŠïŒå€ä¹±ãªãã¶ãŒãã«ããããã¹ãè¿œåŸå¶åŸ¡
ç³»èšèšãè¡ãïŒãŸãïŒå€ä¹±ãªãã¶ãŒãã«ããå€ä¹±éãæšå®ãïŒãã®æšå®å€ã«åºã¥ããŠãã©ãããã¹çè«ã«ããå茪è»äž¡ã®ç·åœ¢åãè¡ãïŒæ¬¡ã«ïŒç·åœ¢åãããã·ã¹ãã ã®èª€å·®æ¹çšåŒã«å¯ŸããŠMPCãšSMCãçšããè¿œåŸå¶åŸ¡ç³»ãèšèšããïŒ
以äžã«æ¬è«æã®æ§æã瀺ãïŒãŸã2ç« ã§å¶åŸ¡å¯Ÿè±¡ã§ããå茪è»äž¡ã®ãã€ããã¯ã¹ããã³SMCïŒ MPCïŒå€ä¹±ãªãã¶ãŒãã«ã€ããŠæŠç¥ãè¿°ã¹ãïŒæ¬¡ã«ïŒ3ç« ã§ææ¡ææ³ã瀺ãïŒ4ç« ã§ã·ãã¥ã¬ãŒã·ã§ã³ã«ããææ¡ææ³ãšå€ä¹±ãªãã¶ãŒããå©çšããªãå Žåã®æ¯èŒãè¡ãïŒææ¡ææ³ã®æå¹æ§ã確èªããïŒæåŸã«ïŒ5ç« ã§ãŸãšããšããïŒ
2 åºç€çè«
2.1 å¶åŸ¡å¯Ÿè±¡
Fig. 1ã«æ¬ç 究ã§çšããå茪è»äž¡ã®ã¢ãã«ã瀺ãïŒæ¬ç 究ã§çšããç¶æ æ¹çšåŒã¯æ¬¡åŒãšãªãïŒ
ï¿œÌï¿œ1 = ð¥4 cos ð¥3 ï¿œÌï¿œ2 = ð¥4 sin ð¥3
ï¿œÌï¿œ3 =ð¥4
ðtan ð¢1
ï¿œÌï¿œ4 = ð¢2
(1)
ããã§ïŒð¥1, ð¥2ã¯åŸèŒªäžå¿åº§æšãè¡šãïŒð¥3ã¯å§¿å¢è§ïŒð¥4
ã¯è»äž¡é床ã§ããïŒð¢1, ð¢2ã¯ããããæèµè§ïŒå é床ã§ããïŒðã¯ãã€ãŒã«ããŒã¹ãè¡šãïŒãŸãïŒå茪è»äž¡ã¯æ¬¡ã®æææ¡ä»¶ãåããïŒ
|ð¢1| †ð¢1ððð |ð¢2| †ð¢2ððð |ð¥4| †ð¥4ððð
(2)
ããã§ïŒð¢1ððð , ð¢2ððð, ð¥4ðððã¯ããããæèµè§å¶éå€ïŒå é床å¶éå€ïŒé床å¶éå€ã§ããïŒ
å€ä¹±ãªãã¶ãŒãã«ããå茪è»äž¡ã®ããã¹ãè»éè¿œåŸå¶åŸ¡
å°æåæ âæ€è¥¿å®£ä»ïŒå€§éªåºç«å€§åŠïŒ
Robust Trajectory Tracking Control for Four Wheel Vehicles with Disturbance Observer
T. Kobayashi, * N. Uenishi (Osaka Prefecture Univ.)
AbstractïŒ In this paper, we present a new robust trajectory tracking control for four wheel vehicles with disturbance observer. In the conventional study, a control law by combining sliding mode control (SMC) and model predictive control (MPC) is proposed to improve robustness of SMC. However, it does not sufficiently remove the influence of disturbance. Therefore, we redesign the control input by using the estimated value by the disturbance observer in order to the influence of disturbance is removed. Simulation results show the effectiveness of the proposed method. Key Words: Sliding mode control, Model predictive control, Disturbance observer
Fig. 1: Four wheel vehicle model.
第 60 åèªåå¶åŸ¡é£åè¬æŒäŒïŒ2017 幎 11 æ 10 æ¥ïœ 12 æ¥ã»æ±äº¬ïŒ © 2017 SICE17PR0002/0000-1030
SuA3-4
åç §è»éãšã®èª€å·®ã·ã¹ãã ãèããïŒãã©ãããã¹çè«5)ãçšãããšïŒæ¬¡ã®ç·åœ¢ç¶æ æ¹çšåŒãåŸãããïŒ
ï¿œÌï¿œ1 = ð2 ï¿œÌï¿œ2 = ï¿œÌ ï¿œ1 ï¿œÌï¿œ3 = ð4 ï¿œÌï¿œ4 = ï¿œÌ ï¿œ2
(3)
ããã§ïŒð1, ð3ã¯ããããð¥1, ð¥2æ¹åã®äœçœ®åå·®ïŒð2, ð4
ã¯ããããð¥1, ð¥2æ¹åã®é床åå·®ãè¡šãïŒï¿œÌ ï¿œ1, ï¿œÌ ï¿œ2ã¯å€æåŸã®èª€å·®ã·ã¹ãã ã®å ¥åã§ããïŒå€æåŸã®åç §å ¥åãð£1
â, ð£2âãšãããšïŒã·ã¹ãã ã«å°å¯ããå ¥åã¯æ¬¡åŒãšãªãïŒ
ð¢1 = tanâ1 {â
ð(ð£1 sin ð¥3 â ð£2 cos ð¥3)
ð¥42 }
ð¢2 = ð£1 cos ð¥3 + ð£2 sin ð¥3
(4)
ãã ãïŒð£1, ð£2ã¯å€æåŸã®ã·ã¹ãã ã®å ¥åã§ããïŒæ¬¡åŒã§è¡šãããïŒ
ð£1 = ï¿œÌ ï¿œ1 + ð£1
â ð£2 = ï¿œÌ ï¿œ2 + ð£2
â (5)
2.2 SMC6)
SMCã¯å®å®ãªåæè¶ å¹³é¢ãžç¶æ ãææããããšã§
å®å®åãéæããææ³ã§ããïŒå¶åŸ¡å ¥åã¯ç¶æ ãè¶ å¹³
é¢ã«ææããçäŸ¡å ¥åãšïŒç¶æ ãè¶ å¹³é¢ãžè¿ã¥ããã
ãã®åæå ¥åã«ããæ§æãããïŒæ¬¡ã®ç·åœ¢ã·ã¹ãã ãš
åæé¢æ°ãèããïŒ
ðÌ = ðŽð + ðµð¢, ð â âð , ð¢ â âð (6)
ð = ðð, ð â âð, ð â âðÃð (7)
ããã§ïŒð, ð¢ã¯ããããç¶æ å€æ°ïŒå ¥åã§ããïŒðã¯å
æé¢æ°ã§ããïŒãã®ãšãïŒç䟡å¶åŸ¡å ¥åã¯æ¬¡åŒã§äžã
ãããïŒ
ð¢ðð = â(ððµ)â1ððŽð (8)
ãŸãïŒåæå ¥åã¯æ¬¡åŒãšããïŒ
ð¢ðð = â (ð1sgn(ð1)
â®ððsgn(ðð)
) (9)
ããã§ïŒsgn(â)ã¯ç¬Šå·é¢æ°ã§ããïŒðð(ð = 1, ⯠, ð)ã¯ã²
ã€ã³ã§ããïŒãã£ãŠïŒSMCå ¥åã¯æ¬¡åŒãšãªãïŒ
ð¢ = â(ððµ)â1ððŽð â (ð1sgn(ð1)
â®ððsgn(ðð)
) (10)
次ã«æé©ãªåæè¶ å¹³é¢ã®èšèšæ¹æ³ã«ã€ããŠè¿°ã¹ãïŒãŸãïŒã·ã¹ãã (6)ã次ã®æ£æºç³»ã«åº§æšå€æããïŒ
ð1Ì = ðŽ11ð1 + ðŽ12ð2
ð2Ì = ðŽ21ð1 + ðŽ22ð2 + ðµ2ð¢ ð = ðð
(11)
ã¹ã©ã€ãã£ã³ã°ã¢ãŒãã«ãããç¶æ ã®å€åãæå°ã«ããæé©ãªæ»ãå¹³é¢ãæ±ããããã«ïŒæ¬¡ã®è©äŸ¡é¢æ°ãå°å ¥ããïŒ
ðœ = â« [ð1
ð2]
â€
[ð11 ð12
ð21 ð22] [
ð1
ð2] dð¡
ð¡
ð¡ð
(12)
ãã ãïŒ ð12†= ð21ïŒð = [
ð11 ð12
ð21 ð22] > 0ã§ããïŒð¡ð ã¯
ç¶æ ðãåæå¹³é¢ã«å°éãããšãã®æå»ã§ããïŒãã®
ãšãïŒè£å©å€æ°ðã次åŒã§å®çŸ©ããïŒ
ð = ð2 + ð22â1ð12
†ð1 (13)
åŒ(11)ïŒ(12)ïŒ(13)ããïŒæ¬¡åŒãåŸãããïŒ
ð1Ì = ðŽ11â ð1 + ðŽ12ð
ðœ = â« (ð1â€ð11
â ð1 + ðâ€ð22ð)dð¡ð¡
ð¡ð
(14)
ãã ãïŒðŽ11â , ð11
â ã¯æ¬¡åŒã§äžããïŒ
ðŽ11
â = ðŽ11 â ðŽ12ð22â1ð12
†ð11
â = ð11 â ð12ð22â1ð12
†(15)
ããã§ïŒæé©ãªåæè¶ å¹³é¢ãæ±ããããã«ïŒåŒ(14)ã®æé©å¶åŸ¡åé¡ã解ãïŒåŒ(14)ã®æé©å¶åŸ¡åé¡ã®Riccatiæ¹çšåŒã¯æ¬¡åŒã§ããïŒ
ððŽ11â + ðŽ11
ââ€ð â ððŽ12ð22â1ðŽ12
†ð + ð11â = 0 (16)
ãã£ãŠïŒè©äŸ¡é¢æ°ðœãæå°ã«ãã解ã¯ïŒåŒ(16)ã®æ£å®å¯Ÿç§°ãªå¯äžè§£ðãçšããŠæ¬¡åŒãšãªãïŒ
ð = âð22â1ðŽ12
†ðð1 (17)
åŒ(13)ïŒ(17)ããïŒæ¬¡åŒãæãç«ã€ïŒ
ð2 = ð â ð22
â1ð12†ð1
= âð22â1(ðŽ12
†ð + ð22â1ð12
†)ð1 (18)
ãã£ãŠïŒåæå¹³é¢ã¯æ¬¡åŒãšãªãïŒ
ð = (ðŽ12†ð + ð22
â1ð12†)ð1 + ð22ð2 = 0 (19)
ãããã£ãŠïŒè¡åðã¯æ¬¡ã®ããã«èšèšãããïŒ
ð = [ðŽ12†ð + ð22
â1ð12†ð22] (20)
ããã§ïŒSMCã®å®å®æ§ã«ã€ããŠæ¬¡ã®åœé¡ãæãç«ã€ïŒ ãåœé¡ 1ã SMCå ¥åã«ããç¶æ ã¯åæè¶ å¹³é¢ã«å¯ŸããŠæŒžè¿å®å®ã§ãã
ïŒèšŒæïŒ ð = 1ãšããŠæ¬¡ã®ãªã¢ãããé¢æ°ã®åè£ãèããïŒ
ð =1
2ð1
2 ⥠0 (21)
ãªã¢ãããé¢æ°ã®åè£(21)ã®æé埮åã¯æ¬¡åŒãšãªãïŒ
ï¿œÌï¿œ = ð1ð1Ì
= ð1(ððÌ)
= ð1[ð(ðŽð + ðµð¢)] = âð1ððµð1sgn(ð1)
(22)
ãã£ãŠïŒððµ > 0ã®ãšãð1 > 0ïŒððµ < 0ã®ãšãð1 < 0ãšãããšïŒï¿œÌï¿œ < 0ãšãªãïŒç¶æ ã¯åæè¶ å¹³é¢ã«å¯ŸããŠæŒžè¿å®å®ã§ããïŒ â¡
ãããã£ãŠïŒç¶æ ãå®å®ãªåæè¶ å¹³é¢ã«åæããïŒã·ã¹ãã ãå®å®åãããããšãã§ããïŒ
2.3 MPC9)
次ã®ç¶æ æ¹çšåŒïŒåæå€ïŒè©äŸ¡é¢æ°ãäžããïŒ
ï¿œÌï¿œ(ð¡) = ð(ð¡, ð¥(ð¡), ð¢(ð¡)), ð¥(ð¡0) = ð¥0 â âð (23)
ðœ = ðº(ð¥(ð¡1)) + â« ð¿(ð¡, ð¥(ð¡), ð¢(ð¡))dð¡ð¡1
ð¡0
(24)
æé©å¶åŸ¡åé¡ãšã¯ïŒç¶æ æ¹çšåŒããã³åæå€(23)ã«å¯ŸããŠå¶åŸ¡åºé[ð¡0, ð¡1]å ã§è©äŸ¡é¢æ°(24)ãæå°ãšãªãå¶åŸ¡å ¥åð¢â(ð¡)ããã³ç¶æ è»éð¥â(ð¡)ãæ±ããããšã§ããïŒ
MPCã¯ãµã³ããªã³ã°æéããšã«æé©å¶åŸ¡åé¡ã解ãïŒæé©å ¥åãé次é©çšããææ³ã§ããïŒ
2.4 å€ä¹±ãªãã¶ãŒã 7),8)
次ã®éç·åœ¢ã·ã¹ãã ãèããïŒ
ï¿œÌï¿œ(ð¡) = ð(ð¥) + ð1(ð¥)ð¢ + ð2(ð¥)ð (25)
ããã§ïŒð¥, ð¢, ðã¯ããããç¶æ å€æ°ïŒå ¥åïŒå€ä¹±éã§ããïŒãŸãïŒå€ä¹±éã¯æçã§ããïŒæ¬¡ã®æ¡ä»¶ãæºããïŒ
limtââ
ï¿œÌï¿œ = 0 (26)
ããã§ïŒå€ä¹±ãç¶æ å€æ°ãšã¿ãªããã·ã¹ãã ãèããïŒ
ï¿œÌï¿œ = 0
ðŠð = ð2(ð¥)ð = ï¿œÌï¿œ(ð¡) â ð(ð¥) â ð1(ð¥)ð¢ (27)
ããã§ïŒðŠðã¯å€ä¹±ãç¶æ å€æ°ãšã¿ãªããã·ã¹ãã ã®åºåã§ããïŒã·ã¹ãã (27)ã«å¯ŸããŠïŒæ¬¡åŒã®å€ä¹±ãªãã¶ãŒããèšèšããïŒ
ï¿œÌÌï¿œ = ð¿(ð¥)(ðŠð â ï¿œÌï¿œð)
= ð¿(ð¥)(ï¿œÌï¿œ(ð¡) â ð(ð¥) â ð1(ð¥)ð¢ â ð2(ð¥)ï¿œÌï¿œ)
ï¿œÌï¿œð = ð2(ð¥)ï¿œÌï¿œ
(28)
ããã§ïŒï¿œÌï¿œã¯å€ä¹±æšå®éïŒï¿œÌï¿œðã¯å€ä¹±ãªãã¶ãŒã(28)ã®åºåã§ããïŒð¿(ð¥)ã¯ãªãã¶ãŒãã²ã€ã³ã§ããïŒFig. 2ã«å€ä¹±ãªãã¶ãŒã(28)ã®ãããã¯ç·å³ã瀺ãïŒ
ããã§ïŒå€ä¹±ãªãã¶ãŒã(28)ã«ã€ããŠæ¬¡ã®åœé¡ãæãç«ã€ïŒ
ãåœé¡ 2ã ð¿(ð¥)ð2(ð¥) > 0ãªããªãã¶ãŒãã²ã€ã³ð¿(ð¥)ãèšèšãããšãïŒå€ä¹±æšå®éï¿œÌï¿œã¯å€ä¹±éðã«åæããïŒ ïŒèšŒæïŒ æšå®èª€å·®ã次åŒã§å®çŸ©ããïŒ
ð = ð â ï¿œÌï¿œ (29)
æšå®èª€å·®ã®æé埮åã¯æ¬¡åŒãšãªãïŒ
ï¿œÌï¿œ = ï¿œÌï¿œ â ï¿œÌÌï¿œ
= âð¿(ð¥)(ðŠð
â ï¿œÌï¿œð)
= âð¿(ð¥)ð2(ð¥)(ð â ï¿œÌï¿œ)
= âð¿(ð¥)ð2(ð¥)ð
(30)
ãããã£ãŠïŒð¿(ð¥)ð2(ð¥) > 0ã®ãšãïŒæšå®èª€å·®ðã¯åç¹ã«å¯ŸããŠæŒžè¿å®å®ã§ããïŒããªãã¡ïŒå€ä¹±æšå®éï¿œÌï¿œã¯å€ä¹±éðã«åæããïŒ â¡
ãããïŒå€ä¹±ãªãã¶ãŒã(28)ã«ãããŠïŒï¿œÌï¿œã¯å©çšã§ããªãããïŒæ¬¡ã®è£å©å€æ°ãå°å ¥ããïŒ
ð§ = ï¿œÌï¿œ â ð (31)
ãã ãïŒðã¯æ¬¡ã®æ¡ä»¶ãæºããããã«èšèšããïŒ
ð¿ =ðð
ðð¥ (32)
ãã®ãšãïŒï¿œÌï¿œãå©çšããªããªãã¶ãŒãã¯æ¬¡åŒãšãªãïŒ
ï¿œÌï¿œ = ï¿œÌÌï¿œ â ï¿œÌï¿œ = ð¿(ð¥)(ï¿œÌï¿œ(ð¡) â ð(ð¥) â ð1(ð¥)ð¢ â ð2(ð¥)ï¿œÌï¿œ)
âðð
ðð¥ï¿œÌï¿œ
= âð¿(ð¥){ð(ð¥) + ð1(ð¥)ð¢ + ð
2(ð¥)(ð§ + ð)}
ï¿œÌï¿œ = ð§ + ð
(33)
3 ææ¡ææ³
3.1 å€ä¹±ãªãã¶ãŒãã®å®åŒå
姿å¢è§ã«å€ä¹±ã圱é¿ããããšãå å³ãïŒæ¬¡ã®å茪è»äž¡ã®ç¶æ æ¹çšåŒãèããïŒ
ï¿œÌï¿œ1 = ð¥4 cos ð¥3 ï¿œÌï¿œ2 = ð¥4 sin ð¥3
ï¿œÌï¿œ3 =ð¥4
ðtan ð¢1 + ð¥4ð
ï¿œÌï¿œ4 = ð¢2
(34)
ããã§ïŒðã¯æçãªå€ä¹±ã§ããïŒæ¡ä»¶(26)ãæºãããšã
ãïŒãã®ãšãïŒå€ä¹±ã®ç¶æ æ¹çšåŒã¯æ¬¡åŒãšãªãïŒ
ï¿œÌï¿œ = 0
ðŠð = ð¥4ð = ï¿œÌï¿œ3 âð¥4
ðtan ð¢1
(35)
ããã§ïŒðŠðã¯å€ä¹±ã®ã·ã¹ãã ã®åºåã§ããïŒåœé¡ 2ããïŒãªãã¶ãŒãã²ã€ã³ïŒè£å©å€æ°ã次åŒã§å®çŸ©ããïŒ
ð¿ = ððð¥4
ð§ = ï¿œÌï¿œ â ððð¥3ð¥4 (36)
ãã ãïŒððã¯æ£ã®å®æ°ã§ããïŒãã®ãšãïŒå€ä¹±ãªãã¶ãŒãã¯æ¬¡åŒãšãªãïŒ
ï¿œÌï¿œ = âððð¥42 (
tan ð¢1
ð+ ð§ + ððð¥3ð¥4) â ð0ð¥3ð¢2
ï¿œÌï¿œ = ð§ + ð0ð¥4ð¥3 (37)
3.2 å ¥åèšèš
ã·ã¹ãã (34)ã«å¯ŸããŠå€ä¹±ãªãã¶ãŒããããšã«ãã©ãããã¹çè«ãé©çšãç·åœ¢åãè¡ããšèª€å·®ã·ã¹ãã ã¯åŒ(3)ãšãªãïŒå€ä¹±ã®åœ±é¿ãé€å»ããããšãã§ããïŒãã ãïŒå ¥åã®å€æåŒã¯å€ä¹±æšå®å€ï¿œÌï¿œãçšããŠæ¬¡åŒãšãªãïŒ
ð¢1 = tanâ1 {âð (
ð£1 sin ð¥3 â ð£2 cos ð¥3
ð¥42 + ï¿œÌï¿œ)}
ð¢2 = ð£1 cos ð¥3 + ð£2 sin ð¥3
(38)
ããã§ïŒèª€å·®ã·ã¹ãã (3)ã«å¯Ÿããå ¥åï¿œÌ ï¿œ1ï¿œÌ ï¿œ2,ã®èšèšæ¹æ³ã«ã€ããŠè¿°ã¹ãïŒåæè¶ å¹³é¢ãžã®åææ§ã®æ¹åããã³ããã¹ãæ§ã®åäžã®ããã«ïŒMPCãçšããSMCãææ¡ãããŠãã10)ïŒãã®ææ³ã§ã¯ïŒå°éã¢ãŒãã«ãããŠåæè¶ å¹³é¢ããé¢ããŠãããšãïŒããªãã¡|ðð| > ðŒðã®ãšãïŒæ¬¡åŒã®è©äŸ¡é¢æ°ãæå°ã«ããMPCã«ããå ¥åãæ±ããïŒ
ðœ = ð¥â€ðð¥ + â« (ðâ€ð + ð¢â€ð ð¢)dð¡ð¡1
ð¡0
(39)
ç¶æ ãåæè¶ å¹³é¢è¿åã«ãããšãïŒããªãã¡|ðð| †ðŒð
ã®ãšãïŒSMCå ¥åãçšããïŒãŸãïŒèª€å·®ã·ã¹ãã ã¯äºã€ã®2次å 1å ¥åã®ãµãã·ã¹ãã ãšã¿ãªãããšãã§ãïŒåœé¡ 1ããïŒSMCå ¥åã«ãã誀差ã·ã¹ãã ã®å®å®åãéæãããïŒ
4 æ°å€å®éš
å茪è»äž¡ã®èªåé§è»ãæ³å®ããŠæ°å€å®éšãè¡ãïŒææ¡ææ³ã®æçšæ§ãæ€èšŒããïŒææ¡ææ³ã§ã¯ïŒãŸãåç §è»éãèšèšãïŒãã®åŸè¿œåŸå¶åŸ¡ç³»ãèšèšããããšã§é§è»åé¡ãè»éè¿œåŸåé¡ãžå€æããïŒåç §è»éããã³åç §å ¥åã¯éç·åœ¢æé©å¶åŸ¡åé¡ã®æ°å€è§£æ³ã¢ã«ãŽãªãºã ã§ãã REB ã¢ã«ãŽãªãºã 11)ã«ããåæäœçœ®ããé§è»äœçœ®ãŸã§ã®æé©è»éãåŸãïŒè»éèšç»ã«ãããã·ãã¥ã¬ãŒã·ã§ã³æ¡ä»¶ã Table 1ã«ç€ºãïŒåæå€ãåç¹ãšãïŒæå®ã®é§è»äœçœ®ãžåããå€ããŠé§è»ããèšå®ãšããïŒ
Table 1: Parameters of trajectory planning
Wheel base ð = 0.25[m]
Initial state [0 0 0 0]
Parking state [4 â1.5ð
20]
Limit of steering ð¢1ððð =35
180ð[rad]
Limit of
acceleration ð¢2ððð = 6.0[m/s2]
Limit of velocity ð¥4ððð = 2.7[m/s]
Fig. 2: Disturbance observer.
ãŸãïŒè»éè¿œåŸå¶åŸ¡ã«ãããã·ãã¥ã¬ãŒã·ã§ã³æ¡ä»¶ã Table 2ã«ç€ºãïŒåè¿°ã®è»éèšèšã®æ¡ä»¶ã«å¯ŸããŠïŒé²è¡æ¹åã®åæå€ãããããŠããïŒããã¯ææ¡ææ³ã®è¿œåŸæ§èœãè©äŸ¡ããããã§ããïŒããã«è»äž¡ã®å§¿å¢è§ã«ã¯å€ä¹±ãå ãææ¡ææ³ã®ããã¹ãæ§ãæ€èšŒããïŒ
Fig. 3ïœFig. 6ã«ã·ãã¥ã¬ãŒã·ã§ã³çµæã瀺ãïŒFig. 3
ã¯èµ°è¡è»è·¡ã§ããïŒåæäœçœ®ããèšèšãããè¿œåŸè»éã«æ²¿ã£ãŠé§è»äœçœ®ãžç§»åã§ããŠããããšããããïŒFig.
4(a)ïŒ(b)ïŒ(c)ïŒ(d)ã¯ããããð¥1, ð¥2, ð¥3, ð¥4ã®è¿œåŸèª€å·®ã®æå»æŽã§ããïŒããã«ããïŒææ¡ææ³ã®ã»ããåŸæ¥ææ³ã«æ¯ã¹ãŠè¿œåŸèª€å·®ãå°ããè¿œåŸæ§èœãè¯ãããšããããïŒãšãã«ïŒFig. 4(c)ã®å§¿å¢è§èª€å·®ãã¿ããšïŒåŸæ¥ææ³ã§ã¯å®åžžåå·®ãæ®ã£ãŠããã®ã«å¯ŸããŠïŒææ¡ææ³ã¯å€ä¹±ã®åœ±é¿ãæå¶ãé«ãããã¹ãæ§ã瀺ããŠããããšããããïŒãŸãïŒFig. 5ã¯å€ä¹±ãªãã¶ãŒãã®æšå®èª€å·®ã®æå»æŽã§ããïŒããã«ããïŒå€ä¹±ãªãã¶ãŒãã®æšå®å€ã¯å€ä¹±éã«åæããŠããããšããããïŒFig. 6(a)ïŒ(b)ã¯å ¥åã®æå»æŽã§ããïŒå ¥åå¶çŽå ã§ã®å¶åŸ¡ãè¡ãããŠããããšããããïŒ
Table 2: Parameters of tracking control
Initial state [0 0ð
60]
Initial condition of
observer
ï¿œÌï¿œ0 = 0 ð§0 = 0
Parameters of
switching ðŒ1 = ðŒ2 = 0.3
Switching function ð1 = ð1 + ð2 ð2 = ð3 + ð4
Weight matrix of
SMC ð = diag[1 1]
SMC gain ð1 = ð2 = 1
Observer gain ðð = 20
Weight matrix of
MPC
ð = [
14.4 16.3 0 016.3 20.7 0 0
0 0 14.4 16.30 0 16.3 20.7
]
ð = diag[0.01 0.01]
Disturbance ð = 0.3[rad/m]
Fig. 3: Simulation results.
(a) Error of ð¥1
(b) Error of ð¥2
(c) Error of ð¥3
(d) Error of ð¥4
Fig. 4: Time history of state errors.
Fig. 5: Time history of estimation error.
(a) ð¢1
(b) ð¢2
Fig. 6: Time history of inputs.
5 çµ èš
æ¬ç 究ã§ã¯ïŒå€ä¹±ãªãã¶ãŒãã«åºã¥ãããã©ãããã¹çè«ã«ããç·åœ¢åãè¡ãïŒMPCãš SMCãçµã¿åãããè»éè¿œåŸå¶åŸ¡ç³»èšèšãææ¡ããïŒæ°å€å®éšããïŒææ¡ææ³ã«ããããã¹ãæ§ã®åäžã確èªããïŒææ¡ææ³ã®æå¹æ§ã瀺ãããïŒ
åèæç®
1) çŸå€å, éç·åœ¢å¶åŸ¡å ¥é å£é§åããããã®æèœå¶åŸ¡
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ããæé©è»éèšç»ãšè¿œåŸå¶åŸ¡ç³»èšèš, æ¥æ¬æ©æ¢°åŠäŒé¢
西åŠçäŒå¹³æ 28幎床åŠçå¡åæ¥ç 究çºè¡šè¬æŒäŒåå·
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