Robust H∞ output-feedback control for path following of autonomous ground vehicles
Robust H∞ output-feedback control for path following of autonomous ground vehicles
复制标题
用于自主地面车辆路径跟踪的鲁棒 H 输出反馈控制
DOI：
10.1016/j.ymssp.2015.09.017
复制
发表时间：
2016-03-01
影响因子：
8.4
通讯作者：
Chadli, Mohammed
中科院分区：
文献类型：
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作者：
Hu, Chuan;Jing, Hui;Chadli, Mohammed
针对自主地面车辆(AGV)的路径跟踪问题，提出了一种鲁棒H_无穷输出反馈控制策略。针对低成本传感器难以测量车辆横向速度的问题，提出了一种基于混合遗传算法(GA)/线性矩阵不等式(LMI)方法的鲁棒H_无穷大静态输出反馈控制器，实现了不需要横向速度信息的路径跟踪。该控制器的参数包括轮胎侧偏刚度、车辆纵向速度、横摆率和路面曲率，对参数不确定性和外部扰动具有一定的鲁棒性。基于CarSim-Simulink联合平台的高保真整车模型仿真结果验证了该控制方法的有效性。(C)2015爱思唯尔有限公司。保留所有权利。
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.