LOCOMOTION
基于非线性滑模模型预测控制与自适应跟随转向及动静态约束的六轮独立驱动/四轮独立转向无人地面车辆轨迹跟踪控制
Shengyang Lu, Guanpeng Chen, Lijing Zhao, Yue Jiang, Xiaojun Xu
- 发表年份
- 2026
- 引用次数
- 0
- 期刊
- Robotics and Autonomous Systems
摘要
本文提出了一种针对六轮独立驱动/四轮独立转向无人地面车辆的非线性滑模模型预测控制方法，实现了在动静态约束下的轨迹跟踪。该方法通过自适应跟随转向策略提高了控制精度和鲁棒性。
关键词
trajectory trackingsliding mode controlmodel predictive controlUGVadaptive steering
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