FWID EV robust weighted gain-scheduling trajectory tracking control based on polytope system
Aiming at uncertainty and nonlinearity of the lateral motion system of four-wheel independent drive electric vehicle(FWID EV)and considering the dynamic characteristics of the steering actuator,a robust weighted gain-scheduling trajectory tracking control strategy was proposed based on the linear parameter-varying(LPV)to improve the performance of trajectory tracking control.Firstly,the LPV system was transformed into a polytope system composed of a finite number of polytope vertices using convex decomposition technology.Then,the system controller parameters corresponding to any time-varying parameters were calculated online by the offline-designed controller of each polytope vertex and established linear combination,and co-simulation was carried out using MATLAB and CarSim Simulation.The results show that in the accelerated lane change scenario,the designed controller can ensure high tracking accuracy with the lateral offset error not exceed 2 cm and the average absolute error of lateral offset not exceed 0.9 cm,and driving stability and robustness.
four-wheel independent drive electric vehiclestrajectory tracking controllinear parameter-varyingweighted gain-scheduling
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