Path Tracking Control for Uncertainty Vehicles via LMI Optimization
Ming Yang, Chang-Fang Chen, Ming-Lei Shu, Yuan-Yuan Yang
Available Online December 2016.
- https://doi.org/10.2991/icwcsn-16.2017.73How to use a DOI?
- path tracking, four-wheel steering (4WS) vehicles, parameter uncertainty, disturbance attenuation, quadratic stabilization.
- This paper studies the path tracking control of fourwheel steering autonomous vehicles in presence of uncertainties of tire-road condition, modeling uncertainties, and unexpected disturbances. Due to the fast convergence of the wheel subsystem, the simplified vehicle model can be developed based on the singular perturbation. Both the state feedback and the observer-based output feedback controllers are derived using the linear matrix inequalities. The main results rely on a multi-objective approach which can handle various closed-loop specifications, such as disturbance rejection and robust stabilization on different channels within the LMI (Linear Matrix Inequalities) synthesis framework. Simulation results show that the proposed controller can effectively improves the path tracking performance.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Ming Yang AU - Chang-Fang Chen AU - Ming-Lei Shu AU - Yuan-Yuan Yang PY - 2016/12 DA - 2016/12 TI - Path Tracking Control for Uncertainty Vehicles via LMI Optimization BT - 3rd International Conference on Wireless Communication and Sensor Networks (WCSN 2016) PB - Atlantis Press SP - 338 EP - 344 SN - 2352-538X UR - https://doi.org/10.2991/icwcsn-16.2017.73 DO - https://doi.org/10.2991/icwcsn-16.2017.73 ID - Yang2016/12 ER -