Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles

Changfang Chen,Ruixia Liu,Minglei Shu,Yinglong Wang

doi:10.1155/2020/2537086

Changfang Chen, Ruixia Liu + Show 2 more

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https://doi.org/10.1155/2020/2537086

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Abstract

This paper investigates the robust H∞ path-tracking control problem of network-based autonomous vehicles (AVs) with delay and packet dropout. Generally, both network-induced delay and packet dropout bring negative effects on the system stability and performance. A robust H∞ control scheme is proposed to realize the desired path tracking and lateral stability. The closed-loop system is asymptotically stable with the prescribed H∞ disturbance attention level if there exist some matrices satisfying certain linear matrix inequality (LMI) conditions. Furthermore, the proposed controller is robust to the parameter uncertainties and external disturbances. Simulation results are presented to verify the effectiveness of the proposed control scheme.

Highlights

With the advantages of improved security, better road utilization, and greatly reduced mobility costs, autonomous vehicles (AVs) offer the possibility of fundamentally changing the conventional transportation system [1]
A robust gain-scheduled H∞ controller is developed for lateral stability control of electric vehicles via linear parametervarying technique [12], and the quadratic D-stability is applied to improve the transient response of the closedloop system
Mathematical Problems in Engineering rather than a centralized control system. e control and measurement signals from controllers and sensors are exchanged through communication network, which imposes the effects of network-induced delays and packet dropout on the control loop due to the bandwidth limitation. e unavoidable delay and packet dropout during the signal transmissions will probably degrade the control effect and deteriorate the system stability [17,18,19]. us, this paper aims to solve the path-tracking control problem for AVs in presence of the delay and packet dropout

Summary

Introduction

With the advantages of improved security, better road utilization, and greatly reduced mobility costs, autonomous vehicles (AVs) offer the possibility of fundamentally changing the conventional transportation system [1]. Several control strategies are proposed for the traditional vehicle stability and handling control, for example, robust H∞ control [4, 5], model predictive control methods [6, 7], and Lyapunov-based control approaches [8,9,10]. In [11], a robust linear quadratic regulator-based H∞ controller is proposed to improve stability and handling of four-wheel independently actuated electric vehicles with the norm-bounded uncertainties. A robust gain-scheduled H∞ controller is developed for lateral stability control of electric vehicles via linear parametervarying technique [12], and the quadratic D-stability is applied to improve the transient response of the closedloop system. In [14], a hierarchical adaptive path-tracking controller is designed for an autonomous vehicle to track a reference path in the presence of uncertainties in both tire-road condition and external disturbance. In [16], a composite nonlinear feedback control is investigated for path-tracking control of four-wheel independently actuated AVs considering the tire force saturations

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