A novel robust event-triggered fault tolerant automatic steering control approach of autonomous land vehicles under in-vehicle network delay
A novel robust event-triggered fault tolerant automatic steering control approach of autonomous land vehicles under in-vehicle network delay
复制标题
车载网络延迟下自主陆地车辆鲁棒事件触发容错自动转向控制方法
DOI：
10.1002/rnc.5393
复制
发表时间：
2021-02-10
影响因子：
3.9
通讯作者：
Chen, Yuanchang
中科院分区：
文献类型：
--
作者：
Zhang, Jie;Zhang, Bangji;Chen, Yuanchang
本文提出了一种新型的自主陆地车辆鲁棒事件触发容错自动转向控制策略，以实现车载网络延迟下的路径跟踪和车辆横向运动控制。从实用的角度来看，参数的不确定性，时间延迟，和执行器故障同时引入，使设计的控制器鲁棒性更广泛和更具挑战性的驾驶条件。一种新的多面体减少和范数有界的不确定性减少方法被用来有效地处理时变速度和轮胎侧偏刚度的不确定性。然后将不确定车辆模型重构为具有时滞和执行器故障的不确定网络控制系统模型。针对不可避免的时滞和执行器故障，设计了一种新的三次绝对值李雅普诺夫函数，保证闭环控制系统的渐近稳定性和H ∞性能，并采用改进的基于投影的自适应律增强系统的容错能力.提出了一种渐进式事件触发机制，用于鲁棒容错自动转向控制器的协同设计，可显著提高有限带宽车载网络的通信资源利用率。最后，不同的控制器的性能比较。仿真结果表明，所设计的控制器能够同时保证路径跟踪性能和侧向动力学稳定性，并节省了车载网络的通信资源。
This paper proposes a novel robust event-triggered fault tolerant automatic steering control strategy for autonomous land vehicles to achieve path tracking and vehicle lateral motion control under in-vehicle network delay. From the practical point of view, the parameter uncertainties, time delay, and actuator fault are simultaneously introduced to make the designed controller robust to more extensive and challenging driving conditions. A novel polytope reduction and norm-bounded uncertainty reduction method is used to effectively handle the time-varying velocity and tire cornering stiffness uncertainties. Then, the uncertain vehicle model can be reconstructed as an uncertain network control system model with time delay and actuator fault. Due to the inevitable time delay and actuator fault, a new cubic absolute-value Lyapunov function is developed to guarantee the asymptotical stability of the closed control system with the H infinity performance, and the modified project-based adaptive law is applied to strengthen the fault tolerant ability. Furthermore, a progressive event-triggered mechanism is proposed for the collaborative design of robust fault tolerant automatic steering controller, which can signally improve the communication resource utilization of the limited bandwidth in-vehicle network. Finally, the performance comparisons of different controllers are presented. These results prove that the proposed controller can simultaneously guarantee the path tacking performance and lateral dynamics stability, and save the communication resource of the in-vehicle network.