Robust $H_{\infty}$ Trajectory Following of Autonomous Vehicles with Delay and Packet Dropout

In our research we highlighted the problematic of the refuelling of autonomous vehicles. During the way to be full autonomous, the vehicles take over more and more driving function from the driver. It is lot of focus on automotive cyber security or trajectory following, but refuelling is not in the main researches. After reviewing the vehicle drivetrains, it was specified which to focus for further testing. In the second part of the article the main influencers of fuel consumption was listed based on a literature overview. Main aspects of the carried out test is listed and results helped us to refine the research direction. For modelling the refuelling of the vehicle it is an enabler to set realistic models for fuel consumption. Relevant researches were studied and these was extended with overview of refuelling studies. Based on these the main direction of our research was set.

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Game theory-based control strategy for trajectory following of four-wheel independently actuated autonomous vehicles

IEEE Transactions on Vehicular Technology ◽

10.1109/tvt.2021.3057161 ◽

2021 ◽

pp. 1-1

Author(s):

Quan An ◽

Shuo Cheng ◽

Chenfeng Li ◽

Liang Li ◽

Haonan Peng

Keyword(s):

Game Theory ◽

Control Strategy ◽

Autonomous Vehicles ◽

Trajectory Following

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Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles

Mathematical Problems in Engineering ◽

10.1155/2020/2537086 ◽

2020 ◽

Vol 2020 ◽

pp. 1-13

Author(s):

Changfang Chen ◽

Minglei Shu ◽

Yinglong Wang ◽

Ruixia Liu

Keyword(s):

Autonomous Vehicles ◽

Path Tracking ◽

System Stability ◽

Linear Matrix ◽

Packet Dropout ◽

Negative Effects ◽

Parameter Uncertainties ◽

Control Scheme ◽

And Performance ◽

Attention Level

This paper investigates the robust H∞ path-tracking control problem of network-based autonomous vehicles (AVs) with delay and packet dropout. Generally, both network-induced delay and packet dropout bring negative effects on the system stability and performance. A robust H∞ control scheme is proposed to realize the desired path tracking and lateral stability. The closed-loop system is asymptotically stable with the prescribed H∞ disturbance attention level if there exist some matrices satisfying certain linear matrix inequality (LMI) conditions. Furthermore, the proposed controller is robust to the parameter uncertainties and external disturbances. Simulation results are presented to verify the effectiveness of the proposed control scheme.

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