Path tracking controller design for intelligent vehicle in non-single straight road conditions

Author

Dehao Han ; Lei Li ; Xinchun Jia ; Bo Yang

Author_Institution

Sch. of Math. Sci., Shanxi Univ., Taiyuan, China

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

4303

Lastpage

4307

Abstract

In this paper, the path tracking control problem for intelligent vehicle in non-single straight road conditions is researched. When the vehicle turns, we can regard it as the vehicle running through a portion of Arc-shaped sections. The centripetal force of the vehicle in cornering can be equivalent to the lateral constant interference, and the optimal output feedback H_∞ controller is designed to ensure the completion of tracking tasks. Finally, simulation results demonstrate the effectiveness of the designed controller.

Keywords

H^∞ control; control system synthesis; feedback; intelligent transportation systems; road traffic control; spatial variables control; arc-shaped sections; centripetal force; intelligent vehicle; lateral constant interference; nonsingle straight road conditions; optimal output feedback H_∞ controller; path tracking controller design; tracking tasks; Electronic mail; Intelligent vehicles; MATLAB; Output feedback; Roads; Robustness; Vehicles; H∞ Control; Optimal; Output feedback; lateral constant disturbance;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852936

Filename

6852936