This paper presents a novel state-feedback switching linear parameter varying (LPV) control for automated vehicle path following under model uncertainty and external disturbances. A vehicle lateral error dynamic model is established and analyzed for trajectory tracking control using the discrete-time linear parameter varying generalized system plant, which considers four vehicle error states in the lateral direction, including vehicle lateral position, lateral velocity, yaw angle, and yaw rate. The synthesis approach for discrete-time switching LPV control under both average-dwell-time and arbitrary switching conditions is discussed. In particular, apart from the conventional design with common Lyapunov functions, the new synthesis condition with separate Lyapunov functions is developed for both system stability and guaranteed local performance (represented by the local L2 gain boundary) under model uncertainty and external disturbances. Meanwhile, the derived robust optimization of these conditions is expressed using the parameter-dependent linear matrix inequalities (LMI). Simulation results for a vehicle path-following problem demonstrate the benefits and effectiveness of the proposed approach in two designed traffic scenarios under four different switching control strategies.
State-feedback Switching Linear Parameter Varying Control for Vehicle Path Following Under Uncertainty and External Disturbances
2022-10-08
653107 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
SAE Technical Papers | 2023
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