Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation
文献类型：期刊论文
| 作者 | Heng Wang; Tengfei Zhang; Xiaoyu Zhang; Qing Li |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2023 |
| 卷号 | 10期号:3页码:749-761 |
| 关键词 | Autonomous ground vehicles (AGVs) H∞ index input saturation observer-based controller path tracking control |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2023.123078 |
| 英文摘要 | This paper investigates the problem of path tracking control for autonomous ground vehicles (AGVs), where the input saturation, system nonlinearities and uncertainties are considered. Firstly, the nonlinear path tracking system is formulated as a linear parameter varying (LPV) model where the variation of vehicle velocity is taken into account. Secondly, considering the noise effects on the measurement of lateral offset and heading angle, an observer-based control strategy is proposed, and by analyzing the frequency domain characteristics of the derivative of desired heading angle, a finite frequency H∞ index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error. Thirdly, sufficient conditions are derived to guarantee robust H∞ performance of the path tracking system, and the calculation of observer and controller gains is converted into solving a convex optimization problem. Finally, simulation examples verify the advantages of the control method proposed in this paper. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/51186]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Heng Wang,Tengfei Zhang,Xiaoyu Zhang,et al. Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(3):749-761. |
| APA | Heng Wang,Tengfei Zhang,Xiaoyu Zhang,&Qing Li.(2023).Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation.IEEE/CAA Journal of Automatica Sinica,10(3),749-761. |
| MLA | Heng Wang,et al."Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation".IEEE/CAA Journal of Automatica Sinica 10.3(2023):749-761. |
入库方式： OAI收割
来源：自动化研究所
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