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Volume 10 Issue 3
Mar.  2023

IEEE/CAA Journal of Automatica Sinica

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H. Wang, T. F. Zhang, X. Y. Zhang, and Q. Li, “Observer-based path tracking controller design for autonomous ground vehicles with input saturation,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 3, pp. 749–761, Mar. 2023. doi: 10.1109/JAS.2023.123078
Citation: H. Wang, T. F. Zhang, X. Y. Zhang, and Q. Li, “Observer-based path tracking controller design for autonomous ground vehicles with input saturation,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 3, pp. 749–761, Mar. 2023. doi: 10.1109/JAS.2023.123078

Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

doi: 10.1109/JAS.2023.123078
Funds:  This work was supported by the National Natural Science Foundation of China (62173029, 62273033, U20A20225) and the Fundamental Research Funds for the Central Universities, China (FRF-BD-19-002A)
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  • This paper investigates the problem of path tracking control for autonomous ground vehicles (AGVs), where the input saturation, system nonlinearities and uncertainties are considered. Firstly, the nonlinear path tracking system is formulated as a linear parameter varying (LPV) model where the variation of vehicle velocity is taken into account. Secondly, considering the noise effects on the measurement of lateral offset and heading angle, an observer-based control strategy is proposed, and by analyzing the frequency domain characteristics of the derivative of desired heading angle, a finite frequency H index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error. Thirdly, sufficient conditions are derived to guarantee robust H performance of the path tracking system, and the calculation of observer and controller gains is converted into solving a convex optimization problem. Finally, simulation examples verify the advantages of the control method proposed in this paper.

     

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    Highlights

    • The nonlinear vehicle model is reformulated as a polytopic LPV system with input saturation
    • The frequency domain characteristics of the derivative of desired heading angles are analyzed
    • An observer-based finite frequency path tracking controller is designed
    • Both observer and controller gains are parameter-dependent which are obtained simultaneously such that the closed-loop system is guaranteed to satisfy certain H∞ performances

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