Robust LMI-Based H-Infinite Controller Integrating AFS and DYC of Autonomous Vehicles With Parametric Uncertainties
| Autor: | ShengNan Fang, Jia-Wang Yong, Cong-Zhi Liu, Xiuheng Wu, Liang Li, Shuo Cheng |
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| Rok vydání: | 2021 |
| Předmět: |
050210 logistics & transportation
Computer science 05 social sciences Stability (learning theory) Linear matrix inequality 020302 automobile design & engineering Polytope 02 engineering and technology Computer Science Applications Computer Science::Robotics Human-Computer Interaction Vehicle dynamics 0203 mechanical engineering Electronic stability control Control and Systems Engineering Control theory 0502 economics and business Brake Electrical and Electronic Engineering Software Parametric statistics |
| Zdroj: | IEEE Transactions on Systems, Man, and Cybernetics: Systems. 51:6901-6910 |
| ISSN: | 2168-2232 2168-2216 |
| DOI: | 10.1109/tsmc.2020.2964282 |
| Popis: | Autonomous vehicles’ dynamics stability control is one key issue to ensure safety of self-driving. However, vehicle uncertainties and time-varying parameters could weaken the performance of autonomous vehicle stability control. Therefore, this article proposes a novel robust linear matrix inequality (LMI)-based $H$ -infinite feedback algorithm for vehicle dynamics stability control, and this algorithm controls vehicle steering system and brake system via direct yaw moment control (DYC) and active front steering control (AFS). The presented controller is robust against vehicle parametric uncertainties, including the vehicle mass and vehicle longitudinal velocity. A linear parameter varying lateral model is constructed utilizing polytopic uncertainty method considering time-varying vehicle longitudinal velocity and mass, where a polytope that contains finite vertices is established to contain all of the possible selections for uncertainty parameters. Then, the $H$ -infinite feedback controller integrating DYC and AFS is derived via LMI technique. Finally, experimental results based on hardware-in-the-loop (HIL) platform illustrate that the presented controller has better performance of ensuring autonomous vehicle dynamics stability than other controllers. |
| Databáze: | OpenAIRE |
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