Observer-based gain scheduling path following control for autonomous electric vehicles subject to time delay

This paper presents a novel observer-based gain-scheduling path following control algorithm for autonomous electric vehicles subject to time delay. Firstly, the lateral dynamic model of the autonomous electric vehicle is constructed by a polytope with four vertices, in which the issues of the time-v...

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Veröffentlicht in:	Vehicle system dynamics Jg. 60; H. 5; S. 1602 - 1626
Hauptverfasser:	Chu, Shaoqiang, Xie, Zhengchao, Wong, Pak Kin, Li, Panshuo, Li, Wenfeng, Zhao, Jing
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Abingdon Taylor & Francis 04.05.2022 Taylor & Francis Ltd
Schlagworte:	Algorithms Apexes Autonomous electric vehicle Control algorithms Control systems design Control theory Controllers Dynamic models Electric vehicles Gain scheduling Linear matrix inequalities Mathematical analysis Nonlinear dynamics observer path following Signal processing Signal transmission time delay Time lag Trajectory planning
ISSN:	0042-3114, 1744-5159
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Abstract	This paper presents a novel observer-based gain-scheduling path following control algorithm for autonomous electric vehicles subject to time delay. Firstly, the lateral dynamic model of the autonomous electric vehicle is constructed by a polytope with four vertices, in which the issues of the time-varying longitudinal velocity and nonlinear tyre dynamics are accurately described. Secondly, taking the time delay encountered in the process of signal transmission into consideration, the observer-based path following controller is proposed by using easily measured vehicle states. In the algorithm, the observer and controller gains are gain scheduled according to the actual longitudinal velocity. Thirdly, based on Lyapunov stability theory, an appropriate Lyapunov-Krasovskii functional is constructed to derive sufficient conditions of the controller, which is effective to ensure the asymptotical stability of the closed-loop path following error system with a guaranteed performance. Specially, for ease of computation, the sufficient conditions of controller design are developed in terms of a set of linear matrix inequalities. Finally, numerical simulations are implemented to illustrate the efficiency and superiority of the proposed method in comparison with the existing method.
AbstractList	This paper presents a novel observer-based gain-scheduling path following control algorithm for autonomous electric vehicles subject to time delay. Firstly, the lateral dynamic model of the autonomous electric vehicle is constructed by a polytope with four vertices, in which the issues of the time-varying longitudinal velocity and nonlinear tyre dynamics are accurately described. Secondly, taking the time delay encountered in the process of signal transmission into consideration, the observer-based path following controller is proposed by using easily measured vehicle states. In the algorithm, the observer and controller gains are gain scheduled according to the actual longitudinal velocity. Thirdly, based on Lyapunov stability theory, an appropriate Lyapunov-Krasovskii functional is constructed to derive sufficient conditions of the controller, which is effective to ensure the asymptotical stability of the closed-loop path following error system with a guaranteed performance. Specially, for ease of computation, the sufficient conditions of controller design are developed in terms of a set of linear matrix inequalities. Finally, numerical simulations are implemented to illustrate the efficiency and superiority of the proposed method in comparison with the existing method. This paper presents a novel observer-based gain-scheduling path following control algorithm for autonomous electric vehicles subject to time delay. Firstly, the lateral dynamic model of the autonomous electric vehicle is constructed by a polytope with four vertices, in which the issues of the time-varying longitudinal velocity and nonlinear tyre dynamics are accurately described. Secondly, taking the time delay encountered in the process of signal transmission into consideration, the observer-based path following controller is proposed by using easily measured vehicle states. In the algorithm, the observer and controller gains are gain scheduled according to the actual longitudinal velocity. Thirdly, based on Lyapunov stability theory, an appropriate Lyapunov–Krasovskii functional is constructed to derive sufficient conditions of the controller, which is effective to ensure the asymptotical stability of the closed-loop path following error system with a guaranteed performance. Specially, for ease of computation, the sufficient conditions of controller design are developed in terms of a set of linear matrix inequalities. Finally, numerical simulations are implemented to illustrate the efficiency and superiority of the proposed method in comparison with the existing method.
Author	Xie, Zhengchao Wong, Pak Kin Li, Panshuo Chu, Shaoqiang Li, Wenfeng Zhao, Jing
Author_xml	– sequence: 1 givenname: Shaoqiang surname: Chu fullname: Chu, Shaoqiang organization: South China University of Technology – sequence: 2 givenname: Zhengchao surname: Xie fullname: Xie, Zhengchao email: zxie@scut.edu.cn organization: South China University of Technology – sequence: 3 givenname: Pak Kin surname: Wong fullname: Wong, Pak Kin organization: University of Macau – sequence: 4 givenname: Panshuo orcidid: 0000-0003-3682-1698 surname: Li fullname: Li, Panshuo organization: Guangdong University of Technology – sequence: 5 givenname: Wenfeng surname: Li fullname: Li, Wenfeng organization: South China University of Technology – sequence: 6 givenname: Jing surname: Zhao fullname: Zhao, Jing email: jzhao@um.edu.mo organization: University of Macau
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SubjectTerms	Algorithms Apexes Autonomous electric vehicle Control algorithms Control systems design Control theory Controllers Dynamic models Electric vehicles Gain scheduling Linear matrix inequalities Mathematical analysis Nonlinear dynamics observer path following Signal processing Signal transmission time delay Time lag Trajectory planning
Title	Observer-based gain scheduling path following control for autonomous electric vehicles subject to time delay
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