期刊
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
卷 21, 期 7, 页码 3069-3079出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2019.2924705
关键词
Autonomous vehicles; path following; vehicle dynamics control; fuzzy static output feedback control; D-stability
资金
- French Ministry of Higher Education and Research
- National Center for Scientific Research (CNRS)
- Nord-Pas-de-Calais Region under Project ELSAT 2020
- National Natural Science Foundation of China [U1664257, U1864201]
This paper provides a new solution for path following control of autonomous ground vehicles. H-2 control problem is considered to attenuate the effect of the road curvature disturbance. To this end, we formulate a standard model from the road-vehicle dynamics, the a priori knowledge on the road curvature, and the path following specifications. This standard model is then represented in a Takagi-Sugeno fuzzy form to deal with the time-varying nature of the vehicle speed. Based on a static output feedback scheme, the proposed method allows avoiding expensive vehicle sensors while keeping the simplest control structure for real-time implementation. The concept of D-stability is exploited using Lyapunov stability arguments to improve the transient behaviors of the closed-loop vehicle system. In particular, the physical upper and lower bounds of the vehicle acceleration are explicitly considered in the design procedure via a parameter-dependent Lyapunov function to reduce drastically the design conservatism. The proposed H-2 design conditions are expressed in terms of linear matrix inequalities (LMIs) with a single line search parameter. The effectiveness of the new path following control method is clearly demonstrated with both theoretical illustrations and hardware experiments under real-world driving situations.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据