LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles. Sign Up to like articles & get recommendations!

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

Photo by dulhiier from unsplash

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… Click to show full abstract

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.

Keywords: network based; network; robust control; based autonomous; autonomous vehicles; path tracking

Journal Title: Mathematical Problems in Engineering
Year Published: 2020

Link to full text (if available)


Share on Social Media:                               Sign Up to like & get
recommendations!

Related content

More Information              News              Social Media              Video              Recommended



                Click one of the above tabs to view related content.