Wang Heng, Song Wenwen, Liang Yongyu, Li Qing, Liang Deyu
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.
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.
ISA Trans. 2022 Feb;121:75-85. doi: 10.1016/j.isatra.2021.03.027. Epub 2021 Apr 13.
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.
本文研究了存在侧偏角情况下自主地面车辆（AGV）的路径跟踪问题。设计了一个观测器来估计侧偏角和车辆横摆率，在此基础上建立了基于观测器的控制器，使得闭环系统稳定且车辆能精确跟踪期望路径。特别地，将非线性车辆动力学模型重新表述为线性参数变化（LPV）系统，并满足有限频率H准则，从而有效衰减干扰，通过求解一个凸优化问题同时计算参数依赖的增益矩阵。仿真结果表明了所提方法的有效性。
