Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 17, Issue 7, Pages 2042-2050Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2015.2498157
Keywords
Robust control; autonomous ground vehicles; path following; delay; data dropout
Categories
Funding
- National Natural Science Foundation of China [51505081, 51205058, 51375086]
- Jiangsu Province Science Foundation for Youths, China [BK20140634]
- Foundation of Education Office of Guangxi Province, China [KY2015YB101]
- Opening Project of Guangxi Colleges and Universities Key Laboratory of Unmanned Aerial Vehicle (UAV) Remote Sensing [WRJ2015KF02]
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This paper presents a robust H-infinity path following control strategy for autonomous ground vehicles with delays and data dropouts. The state measurements and signal transmissions usually suffer from inevitable delays and data packet dropouts, which may degrade the control performance or even deteriorate the system stability. A robust H-infinity state-feedback controller is proposed to achieve the path following and vehicle lateral control simultaneously. A generalized delay representation is formulated to include the delays and data dropouts in the measurement and transmission. The uncertainties of the tire cornering stiffnesses and the external disturbances are also considered to enhance the robustness of the proposed controller. Two simulation cases are presented with a high-fidelity and full-car model based on the CarSim-Simulink joint platform, and the results verify the effectiveness and robustness of the proposed control approach.
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