H-infinity control of automatic vehicle steering

Rafaila, Razvan C.; Livint, Gheorghe

doi:10.1109/icepe.2016.7781297

Cited by 8 publications

(3 citation statements)

References 11 publications

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“…The H 2 and H ∞ controllers use the concept of norm minimization in the frequency domain to develop a controller that guarantees performance of a linear system [3]. H 2 controllers minimize a quadratic cost function or 2-norm of a system, which can be shown to guarantee performance even with Gaussian noise interference to the system.…”

Section: H 2 and H ∞mentioning

confidence: 99%

Review of Model Predictive Control and Other Methodologies for Lateral Control of an Autonomous Vehicle

Assadian¹,

George²

2023

Model Predictive Control - Theory and Applications [Working Title]

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In this chapter, we present a study on autonomous vehicle path tracking utilizing both Linear, Linear Time Varying, Nonlinear Model Predictive controllers and evaluate their performance on a given path. The vehicle is both a linear and non-linear bicycle model with front steering . The performance metric in the evaluation of the controller/path tracker is the root mean square error between the defined path and the resulting vehicle path. The path tracking algorithm utilized are Serret-Frenet Equations and a modified version of Pure Pursuit. The robustness of the controllers are examined by varying vehicle mass, tire-road coefficient of friction, and tire cornering stiffness.

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Section: H 2 and H ∞mentioning

confidence: 99%

Review of Model Predictive Control and Other Methodologies for Lateral Control of an Autonomous Vehicle

Assadian¹,

George²

2023

Model Predictive Control - Theory and Applications [Working Title]

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“…In [81], an & controller is developed using the loop shaping technique to control the steering angle of the vehicle in the lateral displacement and yaw motion where the reference trajectory is assumed to be known. The bicycle model of the vehicle is used to evaluate the performance of the proposed controller and the simulation results indicated the capability of the proposed controller in tracking the reference trajectory with deficient tracking error.…”

Section: B Lateral Controlmentioning

confidence: 99%

Platoon Transitional Maneuver Control System: A Review

et al. 2021

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Connectivity and autonomy are considered two of the most promising technologies to improve mobility, fuel consumption, travel time, and traffic safety in the automated transportation industry. These benefits can be realized through vehicle platooning. A vehicle platoon is composed of a group of connected automated vehicles (CAVs) traveling together at consensual speed, following the leading vehicle (leader) while maintaining a prespecified inter-vehicle distance. This paper reviews the different existing control techniques associated with the transitional platoon maneuvers such as merge/split and lane change. Different longitudinal and lateral vehicle dynamics that are mainly used in the transitional platoon maneuvers are discussed. The most used control algorithms for both longitudinal and lateral control used for transitional platoon maneuvers are reviewed and the advantages and limitations of each control strategy are discussed. The most recent articles on platoon control maneuvers have been analyzed based on the proposed control algorithm, homogeneously or heterogeneously of platoon members, type of platoon maneuver, the aim of control problem, type of implementation, and used simulation tools. This paper also discusses different trajectory planning techniques used in lateral motion control and studies the most recent research related to trajectory planning for automated vehicles and summarizes them based on the used trajectory planning technique, platoon or/and lane change, the type of traffic, and the cost functions. Finally, this paper explores the open issues and directions for future research.

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“…Equation ( 19) present the performance weight function. M p i is the maximum sensitivity gain, ω p i is the differences between upper and lower cutoff frequencies, ϵ p i is a parameter that presents the maximum desired error, and n pi is tuned to control the weight function steep 41 .…”

Section: H ∞ Path-following Controllermentioning

confidence: 99%

Path-following enhancement of an 8×8 combat vehicle using active rear axles steering strategies

Ahmed

El–Gindy

Lang

2021

Proceedings of the Institution of Mechanical Engineers, Part K:

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Active rear steering has been used in many research work to enhance ground vehicles’ lateral stability. However, there is a shortage in the published research studies that consider the incorporation of active rear steering for autonomous vehicles applications, especially in case of multi-axle combat vehicles. In this paper, various H∞ controllers are developed to actively steer rear axles of a multi-axle combat vehicle using a linearized bicycle model. The proposed controllers are incorporated with a 22 degrees of Freedom nonlinear Trucksim full vehicle model to study and compare the developed controllers’ performance on a hard surface. Moreover, a frequency-domain analysis is conducted to investigate the influence of the active rear steering on the path-following controllers’ robustness in terms of stability and performance. Three path-following controllers are designed, where the first controller is applied on the front two axles of the vehicle, while the rear two axles are fixed. The second is applied to all-wheel steering vehicle. The third controller is an integration between the designed front steering path-following controller and a developed lateral stability active rear steering controller. Eventually, a series of virtual maneuvers are performed to evaluate the effectiveness of the intended controllers to present the advantages and limitations of each controller at different driving conditions.

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H-infinity control of automatic vehicle steering

Cited by 8 publications

References 11 publications

Review of Model Predictive Control and Other Methodologies for Lateral Control of an Autonomous Vehicle

Review of Model Predictive Control and Other Methodologies for Lateral Control of an Autonomous Vehicle

Platoon Transitional Maneuver Control System: A Review

Path-following enhancement of an 8×8 combat vehicle using active rear axles steering strategies

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