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.
Robust gain-scheduling automatic steering control of unmanned ground vehicles under velocity-varying motion
Vehicle System Dynamics ; 57 , 4 ; 595-616
2019-04-03
22 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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