无人车全轮蟹行转向稳定性鲁棒控制与试验验证

The research and application of unmanned ground vehicles（UGVs）become more popular in both civilian and military fields. UGVs completely eliminate the human driving operating mechanisms，and adopt full X-by-wire control framework and distributed all-wheel independent drive/braking/steering techniques instead，with each wheel independently controlled to realize multi-steering modes and obtain high maneuver trajectory track⁃ ing ability which traditional vehicle cannot achieved. This paper aims to conduct a research on the all-wheel diago⁃ nal steering（vividly called crab walk steering）control of full X-by-wire controlled UGVs. Firstly，a stability robust control algorithm with a reconfigurable model is proposed，the robust control target and parameter perturbation dy⁃ namics model for diagonal maneuver are established，and a robust H₂/H_∞ stability controller is constructed to achieve a point-to-point yaw-less direct movement of UGVs. Then a decoupled control between body motion posture and movement trajectory is realized through comprehensive cooperated dynamics control，so significantly enhancing the trajectory tracking capability of UGVs in complex space. Finally，a test on a six-wheel UGV prototype is carried out to verify the control effects of the robust controller designed.