Robust <mml:math altimg="si0010.gif" overflow="scroll" xmlns:xocs="http://www.elsevier.com/xml/xocs/dtd" xmlns:xs="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.elsevier.com/xml/ja/dtd" xmlns:ja="http://www.elsevier.com/xml/ja/dtd" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:tb="http://www.elsevier.com/xml/common/table/dtd" xmlns:sb="http://www.elsevier.com/xml/common/struct-bib/dtd" xmlns:ce="http://www.elsevier.com/xml/common/dtd" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:cals="http://www.elsevier.com/xml/common/cals/dtd" xmlns:sa="http://www.elsevier.com/xml/common/struct-aff/dtd"><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mo>∞</mml:mo></mml:mrow></mml:msub></mml:math> output-feedback control for path following of autonomous ground vehicles

This paper focuses on the problems of static output feedback control andH∞controller design for discrete-time switched systems. Based on piecewise quadratic Lyapunov functions and a new linearization method, new sufficient conditions for system stability andH∞controller design are obtained. Then, an improved path-following algorithm is built to solve the problems. Finally, the merits and effectiveness of the proposed method are shown by two numerical examples.

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

Journal of the Franklin Institute ◽

10.1016/j.jfranklin.2017.10.031 ◽

2018 ◽

Vol 355 (18) ◽

pp. 9321-9350 ◽

Cited By ~ 15

Author(s):

Hui Jing ◽

Rongrong Wang ◽

Junmin Wang ◽

Nan Chen

Keyword(s):

Feedback Control ◽

Output Feedback ◽

Output Feedback Control ◽

Dynamic Output Feedback ◽

Ground Vehicles ◽

Dynamic Output

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Path planning and robust fuzzy output-feedback control for unmanned ground vehicles with obstacle avoidance

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407020978319 ◽

2020 ◽

pp. 095440702097831

Author(s):

Yimin Chen ◽

Chuan Hu ◽

Yechen Qin ◽

Mingjun Li ◽

Xiaolin Song

Keyword(s):

Feedback Control ◽

Path Planning ◽

Obstacle Avoidance ◽

Output Feedback ◽

Output Feedback Control ◽

Unmanned Ground Vehicles ◽

Ground Vehicles ◽

Velocity Signal ◽

Moving Obstacles ◽

Avoidance Strategy

Obstacle avoidance strategy is important to ensure the driving safety of unmanned ground vehicles. In the presence of static and moving obstacles, it is challenging for the unmanned ground vehicles to plan and track the collision-free paths. This paper proposes an obstacle avoidance strategy consists of the path planning and the robust fuzzy output-feedback control. A path planner is formed to generate the collision-free paths that avoid static and moving obstacles. The quintic polynomial curves are employed for path generation considering computational efficiency and ride comfort. Then, a robust fuzzy output-feedback controller is designed to track the planned paths. The Takagi–Sugeno (T–S) fuzzy modeling technique is utilized to handle the system variables when forming the vehicle dynamic model. The robust output-feedback control approach is used to track the planned paths without using the lateral velocity signal. The proposed obstacle avoidance strategy is validated in CarSim® simulations. The simulation results show the unmanned ground vehicle can avoid the static and moving obstacles by applying the designed path planning and robust fuzzy output-feedback control approaches.

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