Automated Ground Vehicle Path-Following: A Robust Energy-to-Peak Control Approach

控制器(灌溉) 符号 路径(计算) 能量(信号处理) 数学 计算机科学 算法 算术 统计 程序设计语言 农学 生物
作者
Xingyu Zhou,Zejiang Wang,Junmin Wang
出处
期刊:IEEE Transactions on Intelligent Transportation Systems [Institute of Electrical and Electronics Engineers]
卷期号:23 (9): 14294-14305 被引量:3
标识
DOI:10.1109/tits.2021.3126467
摘要

Due to the simultaneous existence of model uncertainties and external disturbances, designing automated ground vehicle path-following controllers is recognized as a challenging task. The $H_{\infty }$ robust control methodology, as one of the accomplished strategies for controller robustification, has been commonly adopted by researchers to address the vehicle path-tracking problems. Nevertheless, despite its advantages, the $H_{\infty }$ controller is only capable of limiting the total “energy” of the tracking errors. On the other hand, from a safety standpoint, constraining the “peak” of the tracking errors may carry an equal or more importance. To establish a guaranteed upper bound on the path-tracking errors, this paper proposes a novel methodology to synthesis the ground vehicle path-following controller in light of the energy-to-peak robust control theory. Additionally, to address the time-varying uncertainties presented in the tire dynamics, robust stabilization constraints based upon the small-gain theorem are also formulated into the overall controller design problem. Comparative study regarding the disturbance rejection performance between the proposed controller and the conventional $H_{\infty }$ approach is conducted via CarSim-Simulink joint simulations. Furthermore, the robustness and disturbance attenuation ability of the energy-to-peak path-tracking controller is experimentally verified on a scaled car.
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