Robust H∞ state-feedback control for path following of autonomous ground vehicle based on lateral velocity estimation

Feng, Pengpeng; Zhang, Jianwu; Yang, Wenyi

doi:10.1177/0954407019857007

Cited by 2 publications

(2 citation statements)

References 27 publications

(31 reference statements)

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“…The ALVs can be used to improve vehicle safety and ride comfort, increase road utilization in the intelligent transportation systems, and provide more efficient delivery means, reduce humans' risk in the dangerous battlefields. One of the most challenging and significant research issues for ALVs is path tracking control or steering control 3,4 . Its primary task can be described as making the vehicle track a target path precisely by the control system.…”

Section: Introductionmentioning

confidence: 99%

“…One of the most challenging and significant research issues for ALVs is path tracking control or steering control. 3,4 Its primary task can be described as making the vehicle track a target path precisely by the control system. Thus, the control system is required to be able to minimize the lateral offset and heading error between the vehicle and target path and maintain the stability while handling the different driving conditions.…”

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confidence: 99%

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A novel robust event‐triggered fault tolerant automatic steering control approach of autonomous land vehicles under in‐vehicle network delay

Zhang

et al. 2021

Intl J Robust & Nonlinear

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This paper proposes a novel robust event-triggered fault tolerant automatic steering control strategy for autonomous land vehicles to achieve path tracking and vehicle lateral motion control under in-vehicle network delay. From the practical point of view, the parameter uncertainties, time delay, and actuator fault are simultaneously introduced to make the designed controller robust to more extensive and challenging driving conditions. A novel polytope reduction and norm-bounded uncertainty reduction method is used to effectively handle the time-varying velocity and tire cornering stiffness uncertainties. Then, the uncertain vehicle model can be reconstructed as an uncertain network control system model with time delay and actuator fault. Due to the inevitable time delay and actuator fault, a new cubic absolute-value Lyapunov function is developed to guarantee the asymptotical stability of the closed control system with the H∞ performance, and the modified project-based adaptive law is applied to strengthen the fault tolerant ability. Furthermore, a progressive event-triggered mechanism is proposed for the collaborative design of robust fault tolerant automatic steering controller, which can signally improve the communication resource utilization of the limited bandwidth in-vehicle network. Finally, the performance comparisons of different controllers are presented. These results prove that the proposed controller can simultaneously guarantee the path tacking performance and lateral dynamics stability, and save the communication resource of the in-vehicle network. K E Y W O R D Sevent-triggered mechanism, fault tolerant, parameter uncertainties, robust automatic steering control, time delay INTRODUCTIONRecently, as a progressive technology of the automotive industry, autonomous land vehicles (ALVs) have attracted growing attention due to their potential applications in civilian and military fields. 1,2 The ALVs can be used to improve vehicle

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Section: Introductionmentioning

confidence: 99%

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confidence: 99%

A novel robust event‐triggered fault tolerant automatic steering control approach of autonomous land vehicles under in‐vehicle network delay

Zhang

et al. 2021

Intl J Robust & Nonlinear

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Robust integrated control of autonomous vehicles path following with response performance improvement considering lateral stability

Kang,

Tang,

Han

2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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In this paper, a robust integrated control scheme is developed for autonomous vehicles path following considering both yaw stability and roll stability. First, a controller with H∞ and optimal guaranteed cost performances is presented, and the poles of the closed-loop system are configured in a given disk region to improve the state response performance. The controller outputs front and rear wheel angles for path following, as well as an external yaw moment and an external roll moment for lateral stability control. Secondly, the braking forces acted on four wheels are optimally distributed by means of quadratic programing. Besides, the steering angles of the four wheels conform to the Ackermann geometry relation. Finally, the proposed control scheme is verified by CarSim/Simulink co-simulation, the results show that the scheme has better performance on path following accuracy and stability of yaw and roll. Meanwhile, constraining the poles in a given disk region can improve the state response performance of the vehicle during operation.

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Robust H∞ state-feedback control for path following of autonomous ground vehicle based on lateral velocity estimation

Cited by 2 publications

References 27 publications

A novel robust event‐triggered fault tolerant automatic steering control approach of autonomous land vehicles under in‐vehicle network delay

A novel robust event‐triggered fault tolerant automatic steering control approach of autonomous land vehicles under in‐vehicle network delay

Robust integrated control of autonomous vehicles path following with response performance improvement considering lateral stability

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