Fuzzy Static Output Feedback Control for Path Following of Autonomous Vehicles With Transient Performance Improvements

This paper provides a new solution for path following control of autonomous ground vehicles. \mathcal {H}_{2} control problem is considered to attenuate the effect of the road curvature disturbance. To this end, we formulate a standard model from the road-vehicle dynamics, the a priori knowledge o...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2020-07, Vol.21 (7), p.3069-3079
Main Authors: Nguyen, Anh-Tu, Sentouh, Chouki, Zhang, Hui, Popieul, Jean-Christophe
Format: Article
Language:English
Subjects:
Acceleration
Automatic
Autonomous vehicles
Control design
Control stability
Curvature
D-stability
Design parameters
Engineering Sciences
Feedback control
Fuzzy control
fuzzy static output feedback control
Liapunov functions
Linear matrix inequalities
Lower bounds
Mathematical models
Output feedback
path following
Roads
Stability analysis
Traffic speed
Trajectory planning
Transient analysis
Transient performance
Unmanned ground vehicles
Vehicle dynamics
vehicle dynamics control
Vehicles
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Summary:This paper provides a new solution for path following control of autonomous ground vehicles. \mathcal {H}_{2} control problem is considered to attenuate the effect of the road curvature disturbance. To this end, we formulate a standard model from the road-vehicle dynamics, the a priori knowledge on the road curvature, and the path following specifications. This standard model is then represented in a Takagi-Sugeno fuzzy form to deal with the time-varying nature of the vehicle speed. Based on a static output feedback scheme, the proposed method allows avoiding expensive vehicle sensors while keeping the simplest control structure for real-time implementation. The concept of \mathcal {D}- stability is exploited using Lyapunov stability arguments to improve the transient behaviors of the closed-loop vehicle system. In particular, the physical upper and lower bounds of the vehicle acceleration are explicitly considered in the design procedure via a parameter-dependent Lyapunov function to reduce drastically the design conservatism. The proposed \mathcal {H}_{2} design conditions are expressed in terms of linear matrix inequalities (LMIs) with a single line search parameter. The effectiveness of the new path following control method is clearly demonstrated with both theoretical illustrations and hardware experiments under real-world driving situations.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2019.2924705