Gain Scheduling Output Feedback Control for Vehicle Path Tracking Considering Input Saturation

Chao Liu, Weiqiang Zhao and Jie Li
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Chao Liu: Chassis & ADAS Department, SAIC Motor Technical Center, Shanghai 201800, China
Weiqiang Zhao: State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
Jie Li: State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China

Energies, 2020, vol. 13, issue 17, 1-19

Abstract: This paper presents a gain scheduling output feedback control method to reduce driver workload and improve driving performance by considering input saturation. The driver–vehicle system model is developed by considering tire cornering stiffness uncertainties and different driver parameter uncertainties. Meanwhile, the input saturation is also considered in the driver-vehicle system. A quadratic Lyapunov function is designed to solve the optimization problem with uncertainties and input saturation. The results, which are based on the MATLAB-CarSim co-simulation platform, indicate that the robust controller not only improves the convergence rate of the state but also reduces the steering workload of the driver.

Keywords: robust control; gain scheduling output feedback; input saturation; intelligent vehicle; path following (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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