Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation  

作　　者：Heng Wang Tengfei Zhang Xiaoyu Zhang Qing Li 

机构地区：[1]School of Automation and Electrical Engineering,and also with the Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education,University of Science and Technology Beijing,Beijing 100083,China [2]School of Automation and Electrical Engineering,and also with the Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education,University of Science and Technology Beijing,Beijing 100083

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第3期749-761,共13页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(62173029,62273033,U20A20225);the Fundamental Research Funds for the Central Universities,China(FRF-BD-19-002A)。

摘　　要：This paper investigates the problem of path tracking control for autonomous ground vehicles(AGVs),where the input saturation,system nonlinearities and uncertainties are considered.Firstly,the nonlinear path tracking system is formulated as a linear parameter varying(LPV)model where the variation of vehicle velocity is taken into account.Secondly,considering the noise effects on the measurement of lateral offset and heading angle,an observer-based control strategy is proposed,and by analyzing the frequency domain characteristics of the derivative of desired heading angle,a finite frequency H_∞index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error.Thirdly,sufficient conditions are derived to guarantee robust H_∞performance of the path tracking system,and the calculation of observer and controller gains is converted into solving a convex optimization problem.Finally,simulation examples verify the advantages of the control method proposed in this paper.

关 键 词：Autonomous ground vehicles(AGVs) H_∞index input saturation observer-based controller path tracking control 

分 类 号：U463.6[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]