Comparison of Two Robust Static Output Feedback $H_{2}$ Design Approaches for Car Lateral Control

Mustaki, Simon; Nguyen, Anh‐Tu; Chevrel, Philippe; Yagoubi, Mohamed; Fauvel, François

doi:10.23919/ecc.2019.8796191

Cited by 4 publications

(4 citation statements)

References 24 publications

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“…Improving the damping effect of the system is the sole purpose of using this lookahead approach. 4 Various control methods, such as adaptive-PID control, 5 Robust fuzzy-PID control, 6 Robust H N control, 7 H 2 control, 8 Integrated Backstepping and sliding mode control, 9 adaptive sliding mode control, 10 and adaptive neural network-based control, 11 for controlling the vehicles have been employed. Although these control methods have the capacity to improve the lateral performance, it is not guaranteed to handle the output constraint.…”

Section: Introductionmentioning

confidence: 99%

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Parkash

Swarup

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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In a surface vehicle ride, the passenger’s comfort is desirable, ensuring safety under various tight constraints. To consider this requirement, this article has proposed a lateral control for autonomous vehicle considering the lateral offset error constraints. A reduced-order dynamics of the vehicle has been considered for improving and easy implementation of backstepping. A nonlinear control has been developed by utilizing the Time-varying Asymmetric Barrier Lyapunov Function via the Active Disturbance Rejection Control (ADRC) approach. The Extended State Observer, a component of applied ADRC, estimates all unknown system states as well as the unknown disturbance. The desired trajectories (smooth and non-smooth) based on the yaw rate profile have been synthesized to test the performance of the vehicle. Simulation results are presented to show the effectiveness of the proposed closed-loop control strategy. The vehicle performance has been compared using the proposed method, the conventional Quadratic Lyapunov Function and Symmetric Barrier Lyapunov Function based control. The proposed control provides a smoother control signal, small tracking error and robustness in presence of hard road constraints for smooth/non-smooth vehicle motion.

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Section: Introductionmentioning

confidence: 99%

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Parkash

Swarup

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…On-road vehicle research regards high speeds and traditionally adopted dynamic models based on the well-known bicycle model [4], [5], [6], [7] while off-road research, notably due to high slips, prefers to adopt a robotic perspective by widely considering kinematic or extended kinematic models [8], [9]. Off-road works are nonetheless beginning to consider dynamic models [10], demonstrating a convergence between the two fields.…”

Section: Introductionmentioning

confidence: 99%

Multivariable lateral control of an off-road vehicle operating on sloping grounds

Legrand

Claveau

Chevrel

et al. 2022

2022 European Control Conference (ECC)

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This paper proposes an optimized lateral control design of a two-steering-axle off-road vehicle. An extension of the well-known bicycle model is introduced that considers two steering axles and the slope of the local ground. Lateral deviation controllers are thereby synthesized to quantitatively evaluate the use of multiple steering angles. The proposed multi-input multi-output feedback controllers originate from a H2/Hinf multi-objective synthesis, achieving optimum tradeoffs between performance and robustness. Three controller architectures are considered (depending on actuation possibilities) and compared qualitatively and quantitatively. In addition, realistic simulation results are analyzed using a non-linear simulator that considers the fine modeling of sensors and actuators (e.g., hydraulic actuator). The results are promising and will be the subject of an experimental validation project.

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“…On the one hand, much literature relies on parameter-dependent Lyapunov functions as e.g. Becker (1995), Wu et al (1996), Apkarian and Adams (1997), Wu and Dong (2005), de Souza and Trofino (2006), Sato (2011), Mustaki et al (2019). On the other hand, there exist scaling approaches such as Packard (1994), Apkarian and Gahinet (1995) for Dscalings, Helmersson (1998) for positive real-scalings, Scorletti and Ghaoui (1998) for D/G-scalings, and Scherer (2000), Veenman and Scherer (2014) for full block scalings.…”

Section: Introductionmentioning

confidence: 99%

“…Concrete applications of LPV design with H 2 -performance criteria are e.g. the control of autonomous cars and helicopters in Mustaki et al (2019) and Guerreiro et al (2007), respectively. Note that all former scaling approaches cannot cope with H 2 -criteria for LPV design since they eliminate the controller parameters, which is not even feasible for nominal H 2 -design.…”

Section: Introductionmentioning

confidence: 99%

Lifting to Passivity for H2-Gain-Scheduling Synthesis with Full Block Scalings

Rösinger

Scherer

2020

IFAC-PapersOnLine

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Comparison of Two Robust Static Output Feedback $H_{2}$ Design Approaches for Car Lateral Control

Cited by 4 publications

References 24 publications

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Multivariable lateral control of an off-road vehicle operating on sloping grounds

Lifting to Passivity for H2-Gain-Scheduling Synthesis with Full Block Scalings

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