Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles

Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles

This paper investigates the robust H∞ path-tracking control problem of network-based autonomous vehicles (AVs) with delay and packet dropout. Generally, both network-induced delay and packet dropout bring negative effects on the system stability and performance. A robust H∞ control scheme is propose...

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Main Authors: Changfang Chen, Minglei Shu, Yinglong Wang, Ruixia Liu
Format: Article
Language:English
Published: Hindawi Limited 2020-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2020/2537086
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spelling doaj-45d3e94afe8c40d28fa6c0eed6e8f28b2020-11-25T02:01:18ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472020-01-01202010.1155/2020/25370862537086Robust H∞ Control for Path Tracking of Network-Based Autonomous VehiclesChangfang Chen0Minglei Shu1Yinglong Wang2Ruixia Liu3Shandong Computer Science Center (National Supercomputer Center in Jinan), Shandong Provincial Key Laboratory of Computer Networks, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250014, ChinaShandong Computer Science Center (National Supercomputer Center in Jinan), Shandong Provincial Key Laboratory of Computer Networks, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250014, ChinaShandong Computer Science Center (National Supercomputer Center in Jinan), Shandong Provincial Key Laboratory of Computer Networks, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250014, ChinaShandong Computer Science Center (National Supercomputer Center in Jinan), Shandong Provincial Key Laboratory of Computer Networks, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250014, ChinaThis paper investigates the robust H∞ path-tracking control problem of network-based autonomous vehicles (AVs) with delay and packet dropout. Generally, both network-induced delay and packet dropout bring negative effects on the system stability and performance. A robust H∞ control scheme is proposed to realize the desired path tracking and lateral stability. The closed-loop system is asymptotically stable with the prescribed H∞ disturbance attention level if there exist some matrices satisfying certain linear matrix inequality (LMI) conditions. Furthermore, the proposed controller is robust to the parameter uncertainties and external disturbances. Simulation results are presented to verify the effectiveness of the proposed control scheme.http://dx.doi.org/10.1155/2020/2537086
collection DOAJ
language English
format Article
sources DOAJ
author Changfang Chen
Minglei Shu
Yinglong Wang
Ruixia Liu
spellingShingle Changfang Chen
Minglei Shu
Yinglong Wang
Ruixia Liu
Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles
Mathematical Problems in Engineering
author_facet Changfang Chen
Minglei Shu
Yinglong Wang
Ruixia Liu
author_sort Changfang Chen
title Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles
title_short Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles
title_full Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles
title_fullStr Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles
title_full_unstemmed Robust H∞ Control for Path Tracking of Network-Based Autonomous Vehicles
title_sort robust h∞ control for path tracking of network-based autonomous vehicles
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2020-01-01
description This paper investigates the robust H∞ path-tracking control problem of network-based autonomous vehicles (AVs) with delay and packet dropout. Generally, both network-induced delay and packet dropout bring negative effects on the system stability and performance. A robust H∞ control scheme is proposed to realize the desired path tracking and lateral stability. The closed-loop system is asymptotically stable with the prescribed H∞ disturbance attention level if there exist some matrices satisfying certain linear matrix inequality (LMI) conditions. Furthermore, the proposed controller is robust to the parameter uncertainties and external disturbances. Simulation results are presented to verify the effectiveness of the proposed control scheme.
url http://dx.doi.org/10.1155/2020/2537086
work_keys_str_mv AT changfangchen robusthcontrolforpathtrackingofnetworkbasedautonomousvehicles
AT mingleishu robusthcontrolforpathtrackingofnetworkbasedautonomousvehicles
AT yinglongwang robusthcontrolforpathtrackingofnetworkbasedautonomousvehicles
AT ruixialiu robusthcontrolforpathtrackingofnetworkbasedautonomousvehicles
_version_ 1715598281593061376

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