文章基本信息

标题：Parameter Varying Approach For A Combined (Kinematic + Dynamic) Model Of Autonomous Vehicles ⁎
本地全文：下载
作者：Hussam Atoui ; Olivier Sename ; Eugenio Alcala 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：15071-15076
DOI：10.1016/j.ifacol.2020.12.2028
语种：English
出版社：Elsevier
摘要：AbstractThis paper proposes a solution for the integrated longitudinal and lateral control problem of autonomous vehicles. A mixed model including kinematic and dynamic behaviour of the vehicle is used to design a single controller to achieve stability and tracking performances. The proposed solution is based on the Linear Parameter Varying (LPV) control approach, where an output-feedback dynamical controller is designed based on Linear Matrix Inequalities (LMIs). The control synthesis is carried on using the gridded-based approach to reduce the conservatism. Simulation results show the stabilization of the vehicle with robustness in tracking performances, in the presence of the road friction coefficient disturbances.
关键词：KeywordsAutonomous vehiclesTime varying systemsH∞ControlLinear multivariable systemsDisturbance rejection