Proceedings of the 2019 International Conference on Modeling, Simulation and Big Data Analysis (MSBDA 2019)

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Research on the Anti-interference of Intelligent Vehicle Path Tracking on Variable Working Conditions Based on H∞ Control

Authors
Chuanyin Tang, Yifeng Zhao, Yafeng Zhao, Shuwen Zhou
Corresponding Author
Chuanyin Tang
Available Online August 2019.
DOI
10.2991/msbda-19.2019.67How to use a DOI?
Keywords
Intelligent vehicles, Anti-interference, Path tracking control, Vehicle model, Lateral displacement deviation
Abstract

Based on H∞ control theory, the path tracking control of intelligent vehicle is proposed in the paper. Considering the possible interference of various factors in the path tracking process, the controller is designed to make the whole system have good anti-interference ability and robustness. The control effect of intelligent vehicle at different speeds and under different road adhesion coefficients is presented. The results show that, under the disturbance of lateral wind and road changes, with different speeds and different road adhesion coefficients, the lateral displacement deviation decreases gradually and the final deviation converges to zero. The change of yaw angle and yaw velocity tends to be stable finally. This indicates that, under the action of the controller proposed, the intelligent vehicles can well resist external interference in the process of path tracking ，on variable working conditions with different speeds and different road adhesion coefficients, and have good stability in the process of driving.

Copyright
© 2019, 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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Volume Title
Proceedings of the 2019 International Conference on Modeling, Simulation and Big Data Analysis (MSBDA 2019)
Series
Advances in Computer Science Research
Publication Date
August 2019
ISBN
10.2991/msbda-19.2019.67
ISSN
2352-538X
DOI
10.2991/msbda-19.2019.67How to use a DOI?
Copyright
© 2019, 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/).

Cite this article

risenwbib
TY  - CONF
AU  - Chuanyin Tang
AU  - Yifeng Zhao
AU  - Yafeng Zhao
AU  - Shuwen Zhou
PY  - 2019/08
DA  - 2019/08
TI  - Research on the Anti-interference of Intelligent Vehicle Path Tracking on Variable Working Conditions Based on H∞ Control
BT  - Proceedings of the 2019 International Conference on Modeling, Simulation and Big Data Analysis (MSBDA 2019)
PB  - Atlantis Press
SP  - 425
EP  - 431
SN  - 2352-538X
UR  - https://doi.org/10.2991/msbda-19.2019.67
DO  - 10.2991/msbda-19.2019.67
ID  - Tang2019/08
ER  -