Enhanced H∞Tracking Control of Autonomous Ground Vehicles via a Novel Fuzzy Switching Controller

被引：3

作者：

Ren, Yunshuai ^{[1
]}

Xie, Xiangpeng ^{[2
]}

Wu, Jian ^{[3
]}

Xia, Jianwei ^{[4
]}

机构：

[1] Sichuan Univ, Coll Elect Engn, Chengdu 610065, Peoples R China

[2] Nanjing Univ Posts & Telecommun, Inst Adv Technol, Nanjing 210023, Peoples R China

[3] Liaocheng Univ, Sch Mech & Automot Engn, Liaocheng 252000, Peoples R China

[4] Liaocheng Univ, Sch Math Sci, Liaocheng 252000, Peoples R China

来源：

IEEE TRANSACTIONS ON CONSUMER ELECTRONICS | 2024年 / 70卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Control systems; Vehicle dynamics; Switches; Adaptation models; Mathematical models; Symmetric matrices; Roads; Cyber-physical systems; autonomous ground vehicles; path tracking; Takagi-Sugeno (T-S) fuzzy systems; fuzzy switching controller; SYSTEMS; DESIGN;

D O I：

10.1109/TCE.2023.3342140

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents a new path tracking control method for autonomous ground vehicles (AGVs). In particular, a novel fuzzy switching controller is designed, which can realize cooperative control of multiple fuzzy controllers according to specific switching rules by reading the change of vehicle speed. More importantly, using this controller can effectively reduce the conservatism of the method. Furthermore, the D -stability is introduced to optimize the transient performance of the vehicle system. The effective combination of fuzzy switching controller and D -stability further enhances the tracking performance of the control method, especially the tracking effect of the vehicle on the curved road. Finally, the effectiveness of the proposed control method is demonstrated by the Carsim and MATLAB/Simulink co-simulations.

引用

页码：1821 / 1832

页数：12

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