4.7 Article

Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

Related references

Note: Only part of the references are listed.
Article Automation & Control Systems

Observer-based finite frequency H∞ state-feedback control for autonomous ground vehicles

Heng Wang et al.

Summary: This paper investigates the problem of path tracking for Autonomous Ground Vehicles (AGVs) in the presence of sideslip angles. An observer is designed to estimate both the sideslip angle and the vehicle yaw rate, and an observer-based controller is established to ensure stability and accurate path following. The nonlinear vehicle dynamics model is reformulated as a Linear Parameter Varying (LPV) system, and a finite frequency H-infinity criteria is satisfied to effectively attenuate disturbances. Parameter-dependent gain matrices are calculated by solving a convex optimization problem. Simulation results demonstrate the effectiveness of the proposed method.

ISA TRANSACTIONS (2022)

Article Automation & Control Systems

Static-Output-Feedback Based Robust Fuzzy Wheelbase Preview Control for Uncertain Active Suspensions With Time Delay and Finite Frequency Constraint

Wenfeng Li et al.

Summary: This paper presents a robust fuzzy wheelbase preview control algorithm for uncertain active suspensions with time delay and finite frequency constraint, incorporating a T-S fuzzy augmented model and a finite frequency control criterion to improve ride comfort. A two stage approach is adopted to derive a static output feedback controller for maintaining control feasibility. Numerical simulation results demonstrate the excellent performance of the proposed controller.

IEEE-CAA JOURNAL OF AUTOMATICA SINICA (2021)

Article Automation & Control Systems

Robust LMI-Based H-Infinite Controller Integrating AFS and DYC of Autonomous Vehicles With Parametric Uncertainties

Shuo Cheng et al.

Summary: This article proposes a novel robust linear matrix inequality (LMI)-based H-infinite feedback algorithm for vehicle dynamics stability control, which is robust against vehicle parametric uncertainties.

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2021)

Article Engineering, Civil

Connected Automated Vehicle Platoon Control With Input Saturation and Variable Time Headway Strategy

Jianzhong Chen et al.

Summary: This study focuses on the practical actuator constraints and spacing strategies in automated vehicle platoon control systems, proposing a new control approach that incorporates input saturation and VTH spacing strategy in the consensus algorithm. Numerical simulation results demonstrate the effectiveness of the proposed approach and the necessity of introducing these constraint strategies.

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2021)

Article Automation & Control Systems

LPV Static Output Feedback for Constrained Direct Tilt Control of Narrow Tilting Vehicles

Anh-Tu Nguyen et al.

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2020)

Article Engineering, Civil

Design, Analysis, and Experiments of Preview Path Tracking Control for Autonomous Vehicles

Shaobing Xu et al.

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2020)

Article Engineering, Civil

Improved Adaptive Path Following Control System for Autonomous Vehicle in Different Velocities

Xiaofang Yuan et al.

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2020)

Article Engineering, Civil

Lane Keeping Control of Autonomous Vehicles With Prescribed Performance Considering the Rollover Prevention and Input Saturation

Chuan Hu et al.

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2020)

Article Computer Science, Artificial Intelligence

A Novel Fuzzy Observer-Based Steering Control Approach for Path Tracking in Autonomous Vehicles

Changzhu Zhang et al.

IEEE TRANSACTIONS ON FUZZY SYSTEMS (2019)

Article Automation & Control Systems

Observer-Based Synchronization of Complex Dynamical Networks Under Actuator Saturation and Probabilistic Faults

Palanisamy Selvaraj et al.

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2019)

Article Engineering, Electrical & Electronic

Parameter-Space Based Robust Gain-Scheduling Design of Automated Vehicle Lateral Control

Sheng Zhu et al.

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY (2019)

Article Engineering, Civil

An Adaptive Hierarchical Trajectory Following Control Approach of Autonomous Four-Wheel Independent Drive Electric Vehicles

Jinghua Guo et al.

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2018)

Article Automation & Control Systems

Robust feedback control of the underactuated Inertia Wheel Inverted Pendulum under parametric uncertainties and subject to external disturbances: LMI formulation

Hassene Gritli et al.

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS (2018)

Article Automation & Control Systems

Robust H-infinity dynamic output-feedback control for four-wheel independently actuated electric ground vehicles through integrated AFS/DYC

Hui Jing et al.

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS (2018)

Article Automation & Control Systems

Observer-based H∞ control with finite frequency specifications for discrete-time T-S fuzzy systems

Ismail Er Rachid et al.

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE (2018)

Article Engineering, Mechanical

A new shared control for lane keeping and road departure prevention

Abdelkader Merah et al.

VEHICLE SYSTEM DYNAMICS (2016)

Article Engineering, Civil

Robust H∞ Path Following Control for Autonomous Ground Vehicles With Delay and Data Dropout

Rongrong Wang et al.

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2016)

Article Engineering, Electrical & Electronic

Output Constraint Control on Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles

Chuan Hu et al.

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY (2016)

Article Automation & Control Systems

H∞ Observer Design for LPV Systems With Uncertain Measurements on Scheduling Variables: Application to an Electric Ground Vehicle

Hui Zhang et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2016)

Article Engineering, Electrical & Electronic

Sideslip Angle Estimation of an Electric Ground Vehicle via Finite-Frequency H∞ Approach

Hui Zhang et al.

IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION (2016)

Article Engineering, Electrical & Electronic

Nonlinear Unscented H∞ Suspension and Tracking Control of Mobile Vehicles

Ranjan Vepa

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY (2012)

Article Transportation Science & Technology

Velocity-dependent robust control for improving vehicle lateral dynamics

Haiping Du et al.

TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES (2011)

Article Automation & Control Systems

Robust H∞ Finite-Horizon Control for a Class of Stochastic Nonlinear Time-Varying Systems Subject to Sensor and Actuator Saturations

Zidong Wang et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2010)

Article Automation & Control Systems

H-Infinity State Feedback Control for a Class of Networked Cascade Control Systems With Uncertain Delay

Congzhi Huang et al.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2010)

Article Automation & Control Systems

Direct Yaw-Moment Control of an In-Wheel-Motored Electric Vehicle Based on Body Slip Angle Fuzzy Observer

Cong Geng et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2009)

Article Automation & Control Systems

Feedback control synthesis of multiple frequency domain specifications via generalized KYP lemma

T. Iwasaki et al.

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL (2007)

Article Automation & Control Systems

Generalized KYP lemma: Unified frequency domain inequalities with design applications

T Iwasaki et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2005)

Article Computer Science, Artificial Intelligence

Robust stability analysis and fuzzy-scheduling control for nonlinear systems subject to actuator saturation

YY Cao et al.

IEEE TRANSACTIONS ON FUZZY SYSTEMS (2003)

Article Automation & Control Systems

Continuous-time analysis, eigenstructure assignment, and H2 synthesis with enhanced linear matrix inequalities (LMI) characterizations

PC Apkarian et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2001)