Path following and status consistency control of autonomous vehicles
The problem of path following and state consistency control in a nonlinear time-varying platooning system of autonomous vehicles with unknown inputs and external disturbances is investigated in this study.Specifically,the focus is on addressing the control challenges when only partial states of the system can be measured.First,using the vehicle-following and two-degree-of-freedom dynamics models,a discrete state equation is derived for the platooning system of autonomous vehicles,which considers external disturbances and unknown inputs.The leading-following characteristics are utilized to establish an autonomous vehicle platooning system.Then,the partial state unobservability problem of the system is addressed by employing a proportional-integral state observer.An observer-based approach is proposed to realize state consistency control for autonomous vehicle platooning systems.In addition,the estimation effectiveness of the observer and the problem of state consistency control are transformed into stability issues of the error system.This is realized by constructing a Lyapunov-Krasovskii function and deriving sufficient conditions using the discrete system stability theory.The robustness of the system is examined using the H∞ performance index.Finally,the gain and parametric matrices of the platooning system are obtained by solving the linear matrix inequality(LMI).Simulation results verify the effectiveness of the observer-based design in allowing accurate path following and ensuring state consistency for autonomous vehicles with unknown inputs.
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