H∞ loop shaping robust control of vehicle tracking on variable curvature curve
To solve the problem of vehicle deviate from the planned trajectory caused by the changing radius of curvature of the route,a robust control approach based on H∞ loop shaping is proposed to improve the automated trajectory tracking performance.Firstly,the vehicle dynamics model is analyzed and processed to provide the generalized interference control system form,and then the function operation of transfer is used to indirectly obtain the required output variables.Secondly,the nominal plant is selected and the nominal condition is given,the system singular values of the plants can obtain desired shapes based on the robust controller and thus can meet the system performance index and robust stability requirements.Finally,the automated tracking ability of the vehicle on the variable curvature paths is tested.The results show that the vehicle has a stable anti-interference ability under the action of fixed order robust controller,when parameters change within a reasonable range,the lateral error of the vehicle can be controlled within 0.2 m,the goal of good automated tracking performance in multi-curvature routes of the vehicle has realized.Therefore,this control method has a widely potential applications prospect and is suitable for the development of intelligent vehicle path tracking lateral control and autonomous vehicle lane keeping control.
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