Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles

This paper investigates the robust H∞ path-tracking control problem of network-based autonomous vehicles (AVs) with delay and packet dropout. Generally, both network-induced delay and packet dropout bring negative effects on the system stability and performance. A robust H∞ control scheme is propose...

Full description

Saved in:
Bibliographic Details
Published in:Mathematical problems in engineering 2020, Vol.2020 (2020), p.1-13
Main Authors: Liu, Ruixia, Wang, Yinglong, Shu, Minglei, Chen, Changfang
Format: Article
Language:English
Subjects:
Autonomous vehicles
Closed loop systems
Communication
Control stability
Controllers
Electric vehicles
Engineering
Feedback control
H-infinity control
Lateral stability
Linear matrix inequalities
Mathematical analysis
Parameter robustness
Parameter uncertainty
Path tracking
Robust control
Systems stability
Tracking control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper investigates the robust H∞ path-tracking control problem of network-based autonomous vehicles (AVs) with delay and packet dropout. Generally, both network-induced delay and packet dropout bring negative effects on the system stability and performance. A robust H∞ control scheme is proposed to realize the desired path tracking and lateral stability. The closed-loop system is asymptotically stable with the prescribed H∞ disturbance attention level if there exist some matrices satisfying certain linear matrix inequality (LMI) conditions. Furthermore, the proposed controller is robust to the parameter uncertainties and external disturbances. Simulation results are presented to verify the effectiveness of the proposed control scheme.
ISSN:1024-123X
1563-5147
DOI:10.1155/2020/2537086