Observer-based finite frequency H∞ state-feedback control for autonomous ground vehicles.

Area of Science:

• Robotics and Control Systems
• Autonomous Vehicle Dynamics

Background:

• Path tracking for autonomous ground vehicles (AGVs) is challenging due to unmodeled dynamics like sideslip angles.
• Accurate estimation of vehicle states, such as sideslip angle and yaw rate, is crucial for effective control.

Purpose of the Study:

• To develop a robust observer-based controller for AGVs to achieve precise path tracking.
• To effectively estimate and compensate for sideslip angles and yaw rate variations.

Main Methods:

• A nonlinear vehicle dynamics model is reformulated into a Linear Parameter Varying (LPV) system.
• An observer is designed to estimate sideslip angle and yaw rate.
• A finite frequency H_∞ criterion is applied, and parameter-dependent gain matrices are computed via convex optimization.

Main Results:

• The observer-based controller ensures closed-loop system stability.
• The proposed method achieves accurate path tracking for AGVs.
• Disturbances are effectively attenuated, demonstrating the controller's robustness.

Conclusions:

• The developed observer-based control strategy is effective for AGV path tracking in the presence of sideslip.
• The LPV reformulation and H_∞ control approach provide a systematic way to design robust controllers.