The invention discloses a BP neural network-based multi-target sliding mode trajectory tracking control algorithm. The algorithm specifically comprises the following steps of S1, building a vehicle dynamics model; s2, designing a sliding mode surface based on the actual pose deviation motion state equation of the vehicle, and realizing that a sliding mode control algorithm can perform tracking control on multiple targets; s3, designing a sliding mode reaching law based on the BP neural network, and enhancing the adaptability of sliding control; s4, based on a BP neural network-based multi-target sliding mode control algorithm, trajectory tracking is realized by controlling the front wheel turning angle of the vehicle; the invention relates to the technical field of automatic driving rail vehicle trace tracking control. According to the multi-target sliding mode trajectory tracking control algorithm based on the BP neural network, a self-tuning system of sliding mode reaching law parameters is designed based on the BP neural network, the defect of fixed selection of the parameters is overcome, the sliding mode reaching law parameters can be automatically adjusted according to the real-time motion state of a vehicle, the adaptability of sliding mode control is enhanced, and the control precision is improved. And the chattering phenomenon of sliding mode control is weakened, so that the automatic driving vehicle runs more stably.

    本发明公开了一种基于BP神经网络的多目标滑模轨迹跟踪控制算法,具体包括以下步骤:S1、搭建车辆动力学模型;S2、基于车辆实际位姿偏差运动状态方程设计滑模面,实现滑模控制算法能够对多目标进行跟踪控制;S3、基于BP神经网络设计滑模趋近律,增强滑控制的自适应性;S4、基于BP神经网络的多目标滑模控制算法,通过控制车辆前轮转角实现轨迹跟踪;本发明涉及自动驾驶轨车辆迹跟踪控制技术领域。该基于BP神经网络的多目标滑模轨迹跟踪控制算法,基于BP神经网络,设计滑模趋近律参数的自整定系统,避免了参数固定选取的不足,使滑模趋近律参数能够根据车辆实时运动状态自动调节,增强滑模控制的自适应性,削弱滑模控制的“抖振”现象,使自动驾驶车辆行驶更加平稳。


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    Title :

    Multi-target sliding mode trajectory tracking control algorithm based on BP neural network


    Additional title:

    一种基于BP神经网络的多目标滑模轨迹跟踪控制算法


    Contributors:
    DENG LONGZE (author) / XIONG SHUANG (author) / CHEN BO (author) / WEI XIANG (author)

    Publication date :

    2023-04-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen