Observer-based finite frequency H∞ state-feedback control for autonomous ground vehicles

Heng Wang; Wenwen Song; Yongyu Liang; Qing Li; Deyu Liang

doi:10.1016/j.isatra.2021.03.027

Observer-based finite frequency H∞ state-feedback control for autonomous ground vehicles

ISA Trans. 2022 Feb:121:75-85. doi: 10.1016/j.isatra.2021.03.027. Epub 2021 Apr 13.

Authors

Heng Wang¹, Wenwen Song¹, Yongyu Liang¹, Qing Li², Deyu Liang¹

Affiliations

¹ School of Automation and Electrical Engineering, Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, University of Science and Technology Beijing, Beijing, 100083, PR China.
² School of Automation and Electrical Engineering, Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, University of Science and Technology Beijing, Beijing, 100083, PR China; Shunde Graduate School of University of Science and Technology Beijing, Foshan, Guangdong, 528300, PR China. Electronic address: liqing@ies.ustb.edu.cn.

PMID: 33894976
DOI: 10.1016/j.isatra.2021.03.027

Abstract

This paper studies the problem of path tracking of Autonomous Ground Vehicles (AGVs) in the presence of sideslip angles. An observer is designed to estimate both the sideslip angle and the vehicle yaw rate, based on which an observer-based controller is established such that the closed-loop system is stable and the vehicle follows a desired path accurately. In particular, the nonlinear vehicle dynamics model is reformulated as a Linear Parameter Varying (LPV) system, and a finite frequency H_∞ criteria is satisfied such that the disturbances are attenuated effectively, the parameter-dependent gain matrices are calculated simultaneously by solving a convex optimization problem. Simulation results show the effectiveness of the method proposed.

Keywords: performance; Finite frequency; Observer-based; Path following.