Robust H∞ output-feedback control for path following of autonomous ground vehicles

被引：236

作者：

Hu, Chuan ^{[1
,2
]}

Jing, Hui ^{[2
,3
]}

Wang, Rongrong ^{[2
]}

Yan, Fengjun ^{[1
]}

Chadli, Mohammed ^{[4
]}

机构：

[1] McMaster Univ, Dept Mech Engn, Hamilton, ON L8S 4L8, Canada

[2] Southeast Univ, Sch Mech Engn, Nanjing 211189, Jiangsu, Peoples R China

[3] Guilin Univ Elect Technol, Sch Mech & Elect Engn, Guilin 541004, Peoples R China

[4] Univ Picardie Jules Verne, MIS EA 4290, F-80039 Amiens, France

来源：

MECHANICAL SYSTEMS AND SIGNAL PROCESSING | 2016年 / 70-71卷

基金：

中国国家自然科学基金;

关键词：

Autonomous ground vehicles; Path following; Robust control; Static output-feedback; LATERAL DYNAMICS; TRACKING; DESIGN; ASSISTANCE; ALGORITHMS; SYSTEMS;

D O I：

10.1016/j.ymssp.2015.09.017

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a robust H-infinity output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H-infinity static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach. (C) 2015 Elsevier Ltd. All rights reserved.

引用

页码：414 / 427

页数：14

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