In order to achieve stable steering and path tracking, a lateral robust iterative learning control method for unmanned driving robot vehicle is proposed. Combining the nonlinear tire dynamic model with the vehicle dynamic model, the nonlinear vehicle dynamic model is constructed. The structure of steering manipulator of unmanned driving robot vehicle is analyzed, and the kinematics model and dynamics model of steering manipulator of unmanned driving robot vehicle are established. The structure of vehicle steering system is analyzed, and the dynamic model of vehicle steering system is established. Vehicle steering angle model is established by taking vehicle path tracking error and vehicle yaw angle error as input. Combining with the typical iterative learning control law, the robust term is added to the control law, and a robust iterative learning controller for steering manipulator system of unmanned driving robot vehicle is designed. The proposed controller’s stability and astringency are proved. The effectiveness of the proposed method is verified by comparing it with other control methods and human driver simulation tests.

中文翻译：

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无人驾驶机器人车辆横向鲁棒迭代学习控制

为了实现稳定的转向和路径跟踪，提出了一种用于无人驾驶机器人车辆的横向鲁棒迭代学习控制方法。将非线性轮胎动力学模型与车辆动力学模型相结合，构建非线性车辆动力学模型。分析了无人驾驶机器人汽车转向操纵器的结构，建立了无人驾驶机器人汽车转向操纵器的运动学模型和动力学模型。分析了车辆转向系统的结构，建立了车辆转向系统的动力学模型。以车辆路径跟踪误差和车辆横摆角误差为输入，建立车辆转向角模型。结合典型的迭代学习控制律，在控制律中加入鲁棒项，并设计了一种鲁棒迭代学习控制器，用于无人驾驶机器人车辆转向操纵器系统。证明了所提出的控制器的稳定性和收敛性。通过将其与其他控制方法和人类驾驶员模拟测试进行比较，验证了所提出方法的有效性。