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In order to improve the accuracy and robustness of intelligent vehicle path tracking, a robust feedback path tracking controller was designed based on Lyapunov Stability Theory. By using Schur complement lemma and solving Linear Matrix Inequality (LMI), the feedback matrix of the control system was obtained. By building a CarSim/Simulink joint simulation platform, the robust feedback controller was compared with the Linear Quadratic Regulator (LQR). The performance of the designed controller was verified by simulation tests on the roads with different adhesion coefficients at different speeds. The simulation results show that, compared with LQR controller, the robust feedback controller based on Lyapunov stability theory not only has higher control accuracy, but also has stronger robustness when the vehicle is running on different roads at different speeds.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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