Observer-based state-feedback robust control for path following of autonomous ground vehicles

2019 ◽  
Vol 234 (2) ◽  
pp. 222-239 ◽  
Author(s):  
Pengpeng Feng ◽  
Jianwu Zhang ◽  
Weimiao Yang
Keyword(s):  
State Feedback ◽  
Longitudinal Velocity ◽  
Path Following ◽  
Linear Matrix ◽  
Ground Vehicles ◽  
Parameter Uncertainties ◽  
Lateral Velocity ◽  
External Disturbances ◽  
Static State ◽  
Autonomous Ground Vehicles

In this article, a robust [Formula: see text] observer-based static state-feedback controller is designed for the path following of autonomous ground vehicles. The Takagi–Sugeno fuzzy modeling technique is used for modeling of vehicle dynamics with varying longitudinal velocity first. Then considering the high cost of direct lateral velocity measurement, an observer is designed to estimate the value of lateral velocity. Meanwhile, a robust controller is proposed to deal with the parameter uncertainties and external disturbances simultaneously, including the variation of the tire-cornering stiffness of both front and rear tires. Afterward, the condition of designing such an observer-based controller is transformed into the feasible problem of linear matrix inequalities. Numerical simulations using a high-fidelity and full vehicle model are performed based on a Carsim–Simulink joint platform. Simulation results under different conditions and comparison with other controller show that the proposed controller is effective irrespective of the variation in the road condition, the change in the vehicle longitudinal velocity and the external disturbances.

Robust H∞ state-feedback control for path following of autonomous ground vehicle based on lateral velocity estimation

2019 ◽  
Vol 233 (9) ◽  
pp. 2343-2351
Author(s):  
Pengpeng Feng ◽  
Jianwu Zhang ◽  
Weimiao Yang
Keyword(s):  
State Feedback ◽  
Path Following ◽  
Velocity Estimation ◽  
State Feedback Control ◽  
Ground Vehicles ◽  
Lateral Velocity ◽  
Static State ◽  
Ground Vehicle ◽  
Lateral Disturbance ◽  
Static State Feedback

A robust [Formula: see text] observer-based static state-feedback controller is designed for the path following of autonomous ground vehicles in this paper. Considering the lateral velocity of vehicle is usually difficult to measure, an observer is designed to estimate the value of lateral velocity first. Then, a robust controller is proposed to cope with the modeling uncertainty and disturbance, such as the variation of road coefficient and lateral disturbance. Numerical simulations using a high-fidelity and full-vehicle model based on a CarSim–Simulink joint platform have verified the effectiveness of the proposed approach.

Guaranteed cost controller for discrete time-delayed systems with actuator saturation

2021 ◽  
pp. 014233122110433
Author(s):  
Aditi Srivastava ◽  
Richa Negi ◽  
Haranath Kar
Keyword(s):  
Discrete Time ◽  
State Feedback ◽  
Actuator Saturation ◽  
Linear Matrix ◽  
Parameter Uncertainties ◽  
Performance Bound ◽  
Delayed Systems ◽  
Static State ◽  
Closed Loop Systems ◽  
Guaranteed Cost

The problem of guaranteed cost (GC) control using static-state feedback controllers for uncertain linear discrete time-delayed systems subjected to actuator saturation is studied in this paper. The stability analysis of closed-loop systems is carried out using a Lyapunov-Krasovskii functional. Conditions for the existence of state-feedback GC controllers are developed using a linear matrix inequality (LMI)-based criterion. The approach ensures a sufficient performance bound over all the acceptable parameter uncertainties. The scheme of the optimal GC controller problem is framed as a convex optimization problem with LMI constraints. The design of GC controllers for discrete-time systems subjected to actuator saturation without considering the effect of state-delay is also discussed. The effectiveness of the proposed approach is illustrated using suitable examples.

State Feedback Robust H∞ Control for Generalized Discrete System and Simulation

2013 ◽  
Vol 467 ◽  
pp. 621-626
Author(s):  
Chen Fang ◽  
Jiang Hong Shi ◽  
Kun Yu Li ◽  
Zheng Wang
Keyword(s):  
Discrete System ◽  
State Feedback ◽  
Closed Loop ◽  
The State ◽  
Linear Matrix ◽  
Sufficient Condition ◽  
Matrix Inequalities ◽  
Parameter Uncertainties ◽  
Robust Controller ◽  
Closed Loop Systems

For a class of uncertain generalized discrete linear system with norm-bounded parameter uncertainties, the state feedback robust control problem is studied. One sufficient condition for the solvability of the problem and the state feedback robust controller are obtained in terms of linear matrix inequalities. The designed controller guarantees that the closed-loop systems is regular, causal, stable and satisfies a prescribed norm bounded constraint for all admissible uncertain parameters under some conditions. The result of the normal discrete system can be regarded as a particular form of our conclusion. A simulation example is given to demonstrate the effectiveness of the proposed method.

Trajectory Generation From Paths for Autonomous Ground Vehicles

2020 ◽  
Author(s):  
Letian Lin ◽  
J. Jim Zhu
Keyword(s):  
Phase Plane ◽  
Longitudinal Velocity ◽  
Initial Boundary ◽  
Limit Function ◽  
Ground Vehicles ◽  
Reverse Time ◽  
Dynamic Constraints ◽  
Autonomous Ground Vehicles ◽  
Practical Concern ◽  
Initial Boundary Condition

Abstract Path-to-trajectory conversion problem for car-like autonomous ground vehicles has been studied in various ways. It is challenging to generate a trajectory which is dynamically feasible for the vehicle and comfortable for the passengers. An important practical concern of low computational costs makes the problem even more difficult. In this work, a path-to-trajectory converter is developed using a novel receding-horizon type suboptimal algorithm. By transforming the dynamic constraints to a longitudinal velocity limit function in the velocity-acceleration phase plane, a time-sub-optimal trajectory satisfying the dynamic constraints and the initial boundary condition is generated by computing the maximum constant acceleration in the down-range horizon. The portion of the trajectory approaching the end of the path is generated in reverse time. As illustrated by some simulation results and validation on a full-scale Kia Soul EV, the proposed path-to-trajectory conversion algorithm is able to account for dynamic constraints of the vehicle and guarantees passenger comfort.

Yaw rate tracking-based path-following control for four-wheel independent driving and four-wheel independent steering autonomous vehicles considering the coordination with dynamics stability

2020 ◽  
Vol 235 (1) ◽  
pp. 260-272
Author(s):  
Yixiao Liang ◽  
Yinong Li ◽  
Ling Zheng ◽  
Yinghong Yu ◽  
Yue Ren
Keyword(s):  
Autonomous Vehicles ◽  
Longitudinal Velocity ◽  
Path Following ◽  
Linear Matrix ◽  
Yaw Rate ◽  
Path Following Control ◽  
Inequality Theory ◽  
Conflicting Objectives ◽  
Upper Level ◽  
Dynamics Stability

The path-following problem for four-wheel independent driving and four-wheel independent steering electric autonomous vehicles is investigated in this paper. Owing to the over-actuated characters of four-wheel independent driving and four-wheel independent steering autonomous vehicles, a novel yaw rate tracking-based path-following controller is proposed. First, according to the kinematic relationships between vehicle and the reference path, the yaw rate generator is designed by linear matrix inequality theory, with the ability to minimize the disturbances caused by vehicle side slip and varying curvature of path. Considering that the path-following objective and dynamics stability are in conflict with each other in some extreme path-following conditions, a coordinating mechanism based on yaw rate prediction is proposed to satisfy the two conflicting objectives. Then, according to the desired yaw rate and longitudinal velocity, a hierarchical structure is introduced for motion control. The upper-level controller calculates the generalized tracking forces while the allocation layer optimally distributes the generalized forces to tires considering tire vertical load and adhesive utilization. Finally, simulation results indicate that the proposed method can achieve excellent path-following performances in different driving conditions, while both path-following objective and dynamics stability can be satisfied.

scholarly journals A Novel Iterative Linear Matrix Inequality Design Procedure for Passive Inter-Substructure Vibration Control

2020 ◽  
Vol 10 (17) ◽  
pp. 5859
Author(s):  
Josep Rubió-Massegú ◽  
Francisco Palacios-Quiñonero ◽  
Josep M. Rossell ◽  
Hamid Reza Karimi
Keyword(s):  
Linear Matrix Inequality ◽  
Vibration Control ◽  
State Feedback ◽  
Optimization Problems ◽  
Seismic Protection ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Static State ◽  
Fluid Viscous Dampers ◽  
Iterative Linear Matrix Inequality

In vibration control of compound structures, inter-substructure damper (ISSD) systems exploit the out-of-phase response of different substructures to dissipate the kinetic vibrational energy by means of inter-substructure damping links. For seismic protection of multistory buildings, distributed sets of interstory fluid viscous dampers (FVDs) are ISSD systems of particular interest. The connections between distributed FVD systems and decentralized static output-feedback control allow using advanced controller-design methodologies to obtain passive ISSD systems with high-performance characteristics. A major issue of that approach is the computational difficulties associated to the numerical solution of optimization problems with structured bilinear matrix inequality constraints. In this work, we present a novel iterative linear matrix inequality procedure that can be applied to obtain enhanced suboptimal solutions for that kind of optimization problems. To demonstrate the effectiveness of the proposed methodology, we design a system of supplementary interstory FVDs for the seismic protection of a five-story building by synthesizing a decentralized static velocity-feedback H∞ controller. In the performance assessment, we compare the frequency-domain and time-domain responses of the designed FVD system with the behavior of the optimal static state-feedback H∞ controller. The obtained results indicate that the proposed approach allows designing passive ISSD systems that are capable to match the level of performance attained by optimal state-feedback active controllers.

Robust H∞ output-feedback control for path following of autonomous ground vehicles

2016 ◽  
Vol 70-71 ◽  
pp. 414-427 ◽  
Author(s):  
Chuan Hu ◽  
Hui Jing ◽  
Rongrong Wang ◽  
Fengjun Yan ◽  
Mohammed Chadli
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Path Following ◽  
Ground Vehicles ◽  
Autonomous Ground Vehicles

scholarly journals Model Based Robust Predictive Control of Ship Roll/Yaw Motions with Input Constraints

2020 ◽  
Vol 10 (10) ◽  
pp. 3377
Author(s):  
Zhongjia Jin ◽  
Sheng Liu ◽  
Lincheng Jin ◽  
Wei Chen ◽  
Weilin Yang
Keyword(s):  
Predictive Control ◽  
State Feedback ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Control Input ◽  
Input Constraints ◽  
Control Performance ◽  
Parameter Uncertainties ◽  
Yaw Control ◽  
Control Gain

A robust H∞-type state feedback model predictive control (H∞-SFMPC) with input constraints is proposed to optimize the control performance during the ship sailing. Specifically, the approach employed in this paper is able to optimize the closed-loop performance with respect to an H∞-type cost function which predicts the system performance based on the actual model instead of the ideal model. As a result, the effect caused by disturbances is attenuated. The state feedback control gain for the control input of the rudder-fin joint roll/yaw control system is obtained by solving a constrained convex optimization problem in terms of linear matrix inequalities. Simulations are carried out, which reveal that the proposed approach has outstanding control performance. Furthermore, it is found that the approach also has significant robustness with respect to parameter uncertainties.

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