Observer-based path following control for autonomous vehicles with localization errors and tire slip effects

被引：6
作者：
Wang, Heng [1 ,2 ]
Zhang, Tengfei [1 ,2 ]
Quan, Wei [1 ,2 ]
Li, Qing [1 ,3 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China
[2] Univ Sci & Technol Beijing, Key Lab Knowledge Automat Ind Proc, Minist Educ, Beijing, Peoples R China
[3] Univ Sci & Technol Beijing, Shunde Innovat Sch, Foshan, Peoples R China
来源：
ASIAN JOURNAL OF CONTROL | 2023年 / 25卷 / 02期
基金：
中国国家自然科学基金;
关键词：
autonomous vehicle; H-infinity criterion; localization errors; L-1; criterion; path following; TRACKING CONTROL; SLIDING MODE; DISTURBANCE; STABILITY; SYSTEMS; DESIGN;
D O I：
10.1002/asjc.2948
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the problem of path following control for an autonomous vehicle subject to the localization errors and the tire slip effects. First, by analyzing the effects of localization errors, a loss-of-effectiveness actuator model is formulated, and a new chain form model is constructed for path following system of the vehicle. Then, the polytopic model is proposed to characterize the nonlinearity of the system, and an observer-based path following controller is designed by satisfying both the H-infinity, criterion and L-1 criterion. Finally, the path following controller design problem is converted into an optimization problem, which can be solved readily through convex optimization techniques. The effectiveness of the proposed control strategy is verified by simulation results.
引用
收藏
页码：1526 / 1541
页数：16
相关论文
共 43 条
[1]   Localization Integrity for Intelligent Vehicles Through Fault Detection and Position Error Characterization [J].
Al Hage, Joelle ;
Xu, Philippe ;
Bonnifait, Philippe ;
Ibanez-Guzman, Javier .
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2022, 23 (04) :2978-2990
[2]   Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning [J].
Alcala, Eugenio ;
Puig, Vicenc ;
Quevedo, Joseba ;
Escobet, Teresa ;
Comasolivas, Ramon .
CONTROL ENGINEERING PRACTICE, 2018, 73 :1-12
[3]   Path Following of Autonomous Vehicles in the Presence of Sliding Effects [J].
Arogeti, Shai A. ;
Berman, Nadav .
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2012, 61 (04) :1481-1492
[4]   A robust stabilization method for a saturated LPV system : application to the lateral dynamics of vehicles. [J].
Bosche, J. ;
Rabhi, A. ;
El Hajjaji, A. .
IFAC PAPERSONLINE, 2017, 50 (01) :3732-3737
[5]   Path Following Control of Autonomous Four-Wheel-Independent-Drive Electric Vehicles via Second-Order Sliding Mode and Nonlinear Disturbance Observer Techniques [J].
Chen, Jiancheng ;
Shuai, Zhibin ;
Zhang, Hui ;
Zhao, Wanzhong .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2021, 68 (03) :2460-2469
[6]   Multiple Vehicle Tracking Based on Labeled Multiple Bernoulli Filter Using Pre-Clustered Laser Range Finder Data [J].
Dai, Kunpeng ;
Wang, Yafei ;
Ji, Qinghui ;
Du, Haiping ;
Yin, Chengliang .
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2019, 68 (11) :10382-10393
[7]   Composite SOSM controller for path tracking control of agricultural tractors subject to wheel slip [J].
Ding, Chen ;
Ding, Shihong ;
Wei, Xinhua ;
Mei, Keqi .
ISA TRANSACTIONS, 2022, 130 :389-398
[8]   Robust anti-sliding control of autonomous vehicles in presence of lateral disturbances [J].
Fang, Hao ;
Dou, Lihua ;
Chen, Jie ;
Lenain, Roland ;
Thuilot, Benoit ;
Martinet, Philippe .
CONTROL ENGINEERING PRACTICE, 2011, 19 (05) :468-478
[9]   Sliding Window Based Nonlinear H∞ Filtering: Design and Experimental Results [J].
Gasmi, Noussaiba ;
Boutayeb, Mohamed ;
Thabet, Assem ;
Aoun, Mohamed .
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2019, 66 (02) :302-306
[10]   Handling Stability Advancement With 4WS and DYC Coordinated Control: A Gain-Scheduled Robust Control Approach [J].
Hang, Peng ;
Xia, Xin ;
Chen, Xinbo .
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2021, 70 (04) :3164-3174
12345