Robust H_(∞)path tracking control of autonomous vehicles with delay and actuator saturation  

作　　者：Changfang Chen Minglei Shu Yuanyuan Yang Tianlei Gao Lipan Bian 

机构地区：[1]Shandong Artificial Intelligence Institute,Qilu University of Technology(Shandong Academy of Sciences),Jinan,People’s Republic of China [2]Shandong Computer Science Center(National Supercomputer Center in Jinan),Qilu University of Technology(Shandong Academy of Sciences),Jinan,People’s Republic of China

出　　处：《Journal of Control and Decision》2022年第1期45-57,共13页控制与决策学报（英文）

基　　金：This work was supported by the National Natural Science Foundation of China under Grant 61603224;the Natural Science Foundation of Shandong Province under Grant ZR2017MF029.

摘　　要：The path tracking control problem is investigated in this paper for autonomous vehicles(AVs)with time-varying input delay and actuator saturation.Based on the Lyapunov-Krasovskii function and the characteristic of the saturation nonlinearity,a robust H_(∞)state-feedback path tracking controller is presented,and the corresponding control gain can be obtained by solving the linear matrix inequalities(LMIs).The asymptotic stability and prescribed H_(∞)performance conditions are studied for the closed-loop control system.To reduce the cost of control system,a static robust H_(∞)output-feedback controller is also proposed.In addition,the uncertainty effects of the cornering stiffness and external disturbances are included to improve the robustness of the control scheme.Simulation results are given to verify the effectiveness of the proposed theoretical results.

关 键 词：Path tracking robust H_(∞)control time delay actuator saturation UNCERTAINTIES 

分 类 号：O17[理学—数学]