Network-based gain-scheduled control for preview path tracking of autonomous electric vehicles subject to communication delays

Zifan Gao, Tao Wu, Dawei Zhang and Shuqian Zhu

International Journal of Systems Science, 2022, vol. 53, issue 12, 2549-2565

Abstract: The preview path tracking problem of autonomous electric vehicles with event-triggered transmission and bounded communication delays is addressed using polytope modelling and asynchronous gain-scheduled control methods. By finding a polytope with as few vertices as possible to wrap the curve composed of all time-varying parameters, a new polytope modelling method is proposed to describe the vehicle lateral dynamics, which can not only reduce the modelling complexity greatly but also keep the modelling accuracy. Based on the polytope system model, a network-based gain-scheduled controller that operates asynchronously with the polytope system is constructed, where the scheduling parameters are driven by transmitted longitudinal velocity. By computing the deviation bounds of scheduling parameters and utilising the deviation-bound-dependent method, an asynchronous gain-scheduled control design method is presented. The feasibility and advantages of the proposed methods are shown by numerical verification.

Date: 2022
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DOI: 10.1080/00207721.2021.2005177

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