文章基本信息

标题：Self-scheduled H ∞ control of autonomous vehicle in collision avoidance maneuvers
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作者：Dario Penco ; Joan Davins-Valldaura ; Emmanuel Godoy 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：8
页码：148-153
DOI：10.1016/j.ifacol.2021.08.595
语种：English
出版社：Elsevier
摘要：AbstractThis article presents the development of a control law for vehicle steering, acceleration and braking in the autonomous driving context. A self-scheduled robust feedback control design strategy is proposed for the stabilization of the vehicle along a predefined reference collision avoidance maneuver. A non-linear vehicle model with tire forces saturation is developed. Its linearization along the reference trajectory leads to a Linear Parameter-Varying (LPV) model. An LPVH∞control law with pole placement is computed for the LPV model. Simulation results illustrate the stabilization of the vehicle along the reference trajectory.
关键词：KeywordsAutonomous VehiclesLinear parametrically varying (LPV) methodologiesRobust controlPole placement