期刊
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
卷 70-71, 期 -, 页码 414-427出版社
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2015.09.017
关键词
Autonomous ground vehicles; Path following; Robust control; Static output-feedback
资金
- National Natural Science Foundation of China [51205058, 51375086, 51505081]
- 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]
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.
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