Path Tracking Control for Uncertainty Vehicles via LMI Optimization

DOI

10.2991/icwcsn-16.2017.73How to use a DOI?

Keywords

path tracking, four-wheel steering (4WS) vehicles, parameter uncertainty, disturbance attenuation, quadratic stabilization.

Abstract

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.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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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  - Proceedings of the 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  - 10.2991/icwcsn-16.2017.73
ID  - Yang2016/12
ER  -