论文标题
自我安排的强大预览控制器用于路径跟踪和自动驾驶汽车
Self-Scheduling Robust Preview Controllers for Path Tracking and Autonomous Vehicles
论文作者
论文摘要
在这项研究中，我们详细介绍了线性二次$ H_ \ infty $ robust优化方法在线性矩阵不平等（LMI）框架中设计增益调度控制器的过程。控制器旨在指导自动驾驶汽车的控制。我们首先构建线性参数变化（LPV）媒介物模型，并使用不确定性和名义植物合成强大的控制器。我们选择静态输出和状态反馈控制器结构，以避免考虑实施问题的高阶控制器。通过使用有或没有特征值位置约束的不同LMI公式和优化权重来解决稳健的控制问题。比较结果。
In this study, we detail the procedures for designing gain scheduling controllers by Linear Quadratic $H_\infty$ robust optimization methods in Linear Matrix Inequalities (LMI) framework. The controllers are aimed at steering control of the autonomous vehicles. We first construct the Linear Parameter Varying (LPV) vehicle models and synthesize the robust controllers with uncertainty and nominal plants. We choose static output and state feedback controller structure to avoid higher order controllers considering implementation issues. The robust control problems are solved by using different LMI formulations and optimization weights with and without eigenvalue location constraints. The results are compared.
