Details

Autor(en) / Beteiligte

• Cheng, Shuo
• Li, Liang
• Liu, Cong-Zhi
• Wu, Xiuheng
• Fang, Sheng-Nan
• Yong, Jia-Wang

Titel

Robust LMI-Based H-Infinite Controller Integrating AFS and DYC of Autonomous Vehicles With Parametric Uncertainties

Ist Teil von

• IEEE transactions on systems, man, and cybernetics. Systems, 2021-11, Vol.51 (11), p.6901-6910

Ort / Verlag

IEEE

Erscheinungsjahr

2021

Link zum Volltext

• IEEE_Xplore

Quelle

IEEE/IET Electronic Library (IEL)

Beschreibungen/Notizen

• Autonomous vehicles' dynamics stability control is one key issue to ensure safety of self-driving. However, vehicle uncertainties and time-varying parameters could weaken the performance of autonomous vehicle stability control. Therefore, this article proposes a novel robust linear matrix inequality (LMI)-based <inline-formula> <tex-math notation="LaTeX">H </tex-math></inline-formula>-infinite feedback algorithm for vehicle dynamics stability control, and this algorithm controls vehicle steering system and brake system via direct yaw moment control (DYC) and active front steering control (AFS). The presented controller is robust against vehicle parametric uncertainties, including the vehicle mass and vehicle longitudinal velocity. A linear parameter varying lateral model is constructed utilizing polytopic uncertainty method considering time-varying vehicle longitudinal velocity and mass, where a polytope that contains finite vertices is established to contain all of the possible selections for uncertainty parameters. Then, the <inline-formula> <tex-math notation="LaTeX">H </tex-math></inline-formula>-infinite feedback controller integrating DYC and AFS is derived via LMI technique. Finally, experimental results based on hardware-in-the-loop (HIL) platform illustrate that the presented controller has better performance of ensuring autonomous vehicle dynamics stability than other controllers.