Electrical Engineering and Systems Science > Systems and Control
[Submitted on 17 Oct 2023 (v1), last revised 19 Oct 2023 (this version, v2)]
Title:Path Following Control of Automated Vehicle Considering Uncertainties and Disturbances with Parametric Varying
View PDFAbstract:Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward collision warning and automatic emergency braking, have recently been developed and equipped on production vehicles. However, it is impossible to develop a perfectly precise vehicle model when the vehicle is driving. Most PFCs did not consider uncertainties in the vehicle model, external disturbances, and parameter variations at the same time. To address the issues associated with this important feature and function in autonomous driving, a new vehicle PFC is proposed using a robust model predictive control (MPC) design technique based on matrix inequality and the theoretical approach of the hybrid $\&$ switched system. The proposed methodology requires a combination of continuous and discrete states, e.g. regulating the continuous states of the AV (e.g., velocity and yaw angle) and discrete switching of the control strategy that affects the dynamic behaviors of the AV under different driving speeds. Firstly, considering bounded model uncertainties, and norm-bounded external disturbances, the system states and control matrices are modified.
Submission history
From: Dan Shen [view email][v1] Tue, 17 Oct 2023 01:41:23 UTC (250 KB)
[v2] Thu, 19 Oct 2023 17:09:33 UTC (250 KB)
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