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Home > Archive>Volume 13, Issue 1, 2021 >41-50. DOI:10.13878/j.cnki.jnuist.2021.01.006
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Path-following control of autonomous vehicles based on velocity-dependent static output-feedback strategy
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U463;TP273

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    Abstract:

    A new static output-feedback gain-scheduled controller is proposed for the autonomous vehicle to track the desired path and ensure the lateral stability under varying velocity and unmeasurable state.With control the steering angle of front wheel,the lateral offset and heading offset are minimized,which guarantees the path-following performance.In order to describe the velocity-related varying parameters,a polytopic linear parameter-varying vehicle model is established which takes the time-varying velocity into account,and a shrunk polytope is constructed to reduce the conservativeness of the design.The system H∞ performance is analyzed with matrix transformation.Gain-scheduled control strategy and two-step method are adopted to design the H∞ static output-feedback controller.Compared with previous iterative algorithms,the proposed method is easy to implement,and more desirable for application.Simulations are carried out on two typical road scenarios,and the results verify the effectiveness of the proposed method in path-following control of autonomous vehicles.

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JIANG Zhengwei, LI Pengxu, ZHANG Bin, LI Panshuo. Path-following control of autonomous vehicles based on velocity-dependent static output-feedback strategy[J]. Journal of Nanjing University of Information Science & Technology,2021,13(1):41-50

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  • Received:October 23,2020
  • Online: March 31,2021
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