Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

Heng Wang; Tengfei Zhang; Xiaoyu Zhang; Qing Li

doi:10.1109/JAS.2023.123078

Volume 10 Issue 3

Mar. 2023

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2023 > 10(3): 749-761

H. Wang, T. F. Zhang, X. Y. Zhang, and Q. Li, “Observer-based path tracking controller design for autonomous ground vehicles with input saturation,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 3, pp. 749–761, Mar. 2023. doi: 10.1109/JAS.2023.123078

Citation:

H. Wang, T. F. Zhang, X. Y. Zhang, and Q. Li, “Observer-based path tracking controller design for autonomous ground vehicles with input saturation,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 3, pp. 749–761, Mar. 2023. doi: 10.1109/JAS.2023.123078

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Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

doi: 10.1109/JAS.2023.123078

Heng Wang^1
,,
Tengfei Zhang^1
,,
Xiaoyu Zhang^2
,,
Qing Li^{1
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,}

1.
School of Automation and Electrical Engineering, and also with the Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, University of Science and Technology Beijing, Beijing 100083, China
2.
School of Automation and Electrical Engineering, and also with the Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, University of Science and Technology Beijing, Beijing 100083. She is now with China Aerospace Science and Technology Corporation, Beijing 102199, China

Funds: This work was supported by the National Natural Science Foundation of China (62173029, 62273033, U20A20225) and the Fundamental Research Funds for the Central Universities, China (FRF-BD-19-002A)

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Author Bio:
Heng Wang received the B.S. degree in automation and the Ph.D. degree in navigation and control from the College of Information Science and Engineering, Northeastern University in 2003 and 2008, respectively. He was a Post-Doctoral Research Fellow with the Centre for Autonomous Systems, University of Technology Sydney, Australia from 2010 to 2011, and a Lecturer with the College of Electronic Information and Control Engineering, Beijing University of Technology, from 2008 to 2014. From 2014 to 2015, he was a Research Scientist with the Institute for Infocomm Research, A*STAR, Singapore, and from 2015 to 2018, he was an Associate Professor with the College of Information Science and Engineering, Northeastern University. He is currently a Professor with the School of Automation and Electrical Engineering, University of Science and Technology Beijing. His current research interests include mobile robots simultaneous localization and mapping, robust control, and autonomous vehicles

Tengfei Zhang received the B.S. degree in automation from the College of Engineering, Qufu Normal University in 2016, and the M.S. degree in control engineering from the College of Electronic Information Engineering, Shandong University of Science and Technology in 2019. He is currently a Ph.D. candidate in control science and engineering at the School of Automation and Electrical Engineering, University of Science and Technology Beijing. His current research interests include vehicle dynamics and control, path following control, and robust control

Xiaoyu Zhang received the B.S. degree in automation from North China University of Technology in 2019, and the M.S. degree in control science and engineering from University of Science and Technology Beijing in 2022. She is currently a research engineer with China Aerospace Science and Technology Corporation. Her research interests include simultaneous localization and mapping (SLAM), path planning and control

Qing Li received the B.S. degree in industrial electrical automation from the North China University of Science and Technology in 1993, and the Ph.D. degree in control theory and control engineering from University of Science and Technology Beijing in 2000. From February 2006 to February 2007, he was a Visiting Scholar with Ryerson University, Canada. He is currently a Professor with the School of Automation and Electrical Engineering, University of Science and Technology Beijing. His research interests include intelligent control and intelligent optimization
Corresponding author: Qing Li, e-mail: liqing@ies.ustb.edu.cn
Received Date: 2021-08-17
Revised Date: 2022-02-09
Accepted Date: 2022-03-22

Available Online: 2022-04-28

Abstract

Abstract

This paper investigates the problem of path tracking control for autonomous ground vehicles (AGVs), where the input saturation, system nonlinearities and uncertainties are considered. Firstly, the nonlinear path tracking system is formulated as a linear parameter varying (LPV) model where the variation of vehicle velocity is taken into account. Secondly, considering the noise effects on the measurement of lateral offset and heading angle, an observer-based control strategy is proposed, and by analyzing the frequency domain characteristics of the derivative of desired heading angle, a finite frequency H_∞ index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error. Thirdly, sufficient conditions are derived to guarantee robust H_∞ performance of the path tracking system, and the calculation of observer and controller gains is converted into solving a convex optimization problem. Finally, simulation examples verify the advantages of the control method proposed in this paper.
- Autonomous ground vehicles (AGVs),
- H_∞ index,
- input saturation,
- observer-based controller,
- path tracking control

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References(37)

References

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Highlights

The nonlinear vehicle model is reformulated as a polytopic LPV system with input saturation
The frequency domain characteristics of the derivative of desired heading angles are analyzed
An observer-based finite frequency path tracking controller is designed
Both observer and controller gains are parameter-dependent which are obtained simultaneously such that the closed-loop system is guaranteed to satisfy certain H∞ performances

Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

doi: 10.1109/JAS.2023.123078

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