The invention provides an unmanned vehicle non-convex optimization control method based on collaborative neurodynamics, and aims to improve the control stability and accuracy of an unmanned vehicle under a complex non-convex condition. A discrete linear error model of the unmanned vehicle is obtained through Taylor expansion and a forward Euler method; s2, according to the discrete linearization error model of the unmanned vehicle, constructing a linear secondary regulator strategy to obtain an unmanned vehicle path tracking reference control signal; s3, designing optimization performance indexes, obstacle avoidance non-convex constraints and control input constraints according to the reference control input signal, and establishing an unmanned vehicle non-convex optimization control scheme; s4, aiming at the unmanned vehicle non-convex optimization control scheme, constructing a single neurodynamic model to solve and obtain local optimal control signal input; and S5, for a non-convex condition, expanding a single neurodynamics model into a collaborative neurodynamics model to solve and obtain global optimal control signal input, and driving the unmanned vehicle to complete path tracking and obstacle avoidance tasks. According to the invention, the stability and accuracy of path tracking and obstacle avoidance control tasks executed by the unmanned vehicle under the non-convex condition can be improved.

    本发明提供了一种基于协同神经动力学的无人车非凸优化控制方法,旨在提高无人车在复杂非凸条件下的控制稳定性和准确性,包括如下步骤:S1:根据无人车连续的非线性运动学模型,通过泰勒展开和前向欧拉方法得到无人车离散的线性化误差模型;S2:根据无人车离散的线性化误差模型,构建线性二次调节器策略,以获得无人车路径跟踪参考控制信号;S3:根据参考控制输入信号,设计优化性能指标、障碍躲避非凸约束和控制输入约束,建立无人车非凸优化控制方案;S4:针对无人车非凸优化控制方案,构建单个神经动力学模型,以求解获得局部最优控制信号输入;S5:针对非凸情况,将单个神经动力学模型拓展为协同神经动力学模型,以求解获得全局最优控制信号输入,驱动无人车完成路径跟踪及障碍躲避任务。本发明能够提高在非凸条件下无人车执行路径跟踪和障碍躲避控制任务的稳定性和准确性。


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    Title :

    Unmanned vehicle non-convex optimization control method based on collaborative neurodynamics


    Additional title:

    一种基于协同神经动力学的无人车非凸优化控制方法


    Contributors:
    JIN LONG (author) / LIU FUYING (author) / SU ZHENMING (author)

    Publication date :

    2025-01-10


    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



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