摘要：Motion control analysis should consider the system’s uncertainty to ensure the intelligent vehicle’s autonomy. The clearance structure of the transmission shaft is modeled as a cantilever beam with double clearance to predict the clearance vibration for mitigating the nonlinearity. Based on the Kelvin–Voigt collision model, a clearance model was developed using time-varying parameters identified by the wavelet transform. Comparing the frequency response functions (FRF) of the initial model with constant parameters and the updated model with time-varying parameters, the experimental results from the updated model indicate that the modal assurance criterion (MAC) is increased by 42.92%, 31.08%, 38.97%, and 50.74% in the first-four order. Cross-signature assurance criteria (CSAC) and cross-signature scale factor (CSF) have been increased by 6.55% and 12.37%. The control method based on the clearance model has been verified. In the case of 120 km/h, compared with model-predictive control (MPC) and sliding mode control (SMC), the peak of the lateral position error was reduced by 35.7% and 14.3%, and the peak of the heading error was reduced by 50% and 15.6%.
