Robust H∞ state-feedback control for path following of autonomous ground vehicle based on lateral velocity estimation

A robust H∞ observer-based static state-feedback controller is designed for the path following of autonomous ground vehicles in this paper. Considering the lateral velocity of vehicle is usually difficult to measure, an observer is designed to estimate the value of lateral velocity first. Then, a robust controller is proposed to cope with the modeling uncertainty and disturbance, such as the variation of road coefficient and lateral disturbance. Numerical simulations using a high-fidelity and full-vehicle model based on a CarSim–Simulink joint platform have verified the effectiveness of the proposed approach.

• Record URL:
  • https://doi.org/10.1177/0954407019857007
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/09544070
• Supplemental Notes:
  • © IMechE 2019.
• Authors:
  • Feng, Pengpeng
  • 0000-0002-7118-1449
  • Zhang, Jianwu
  • Yang, Weimiao
  • 0000-0003-4881-8744
• Publication Date: 2019-8

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 2343-2351
• Serial:
  • Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
  • Volume: 233
  • Issue Number: 9
  • Publisher: Sage Publications Limited
  • ISSN: 0954-4070
  • EISSN: 2041-2991
  • Serial URL: http://pid.sagepub.com/content/current

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Control systems; Estimating; Feedback control; Fuzzy logic; Mathematical models; Trajectory control; Velocity
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01718116
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 25 2019 1:50PM