Robust gain-scheduling automatic steering control of unmanned ground vehicles under velocity-varying motion |
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Authors: | Jinghua Guo Yugong Luo Keqiang Li |
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Affiliation: | 1. Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, People’s Republic of China;2. Department of Automotive Engineering, State Key Laboratory of Automotive Safety &3. Energy, Tsinghua University, Beijing, People’s Republic of China |
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Abstract: | Owing to the fact that unmanned ground vehicles have the features of time-varying, parametric uncertainties and external disturbances, this paper mainly studies robust automatic steering control of unmanned ground vehicles. Firstly, a linear parameter varying lateral model for unmanned ground vehicle is constructed, in which the longitudinal velocity is represented by a polytope with finite vertices. Secondly, a robust gain scheduling automatic steering control scheme based on the linear matrix inequality technique is proposed to deal with the characteristics of time-varying and external disturbances. Finally, Simulation results based on Adams–Matlab joint platform using a nonlinear full vehicle model have demonstrated that the proposed control approach can simultaneously ensure the control accuracy and strong robustness of system. |
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Keywords: | Unmanned ground vehicles automatic steering control robust gain-scheduling control time-varying lateral motion |
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