Robust LPV/H∞ control for automatic path tracking of heavy commercial vehicles

DONG Qing; JI Xuewu; LIU Yulong; TAO Shuxin; LIU Yahui

doi:10.16511/j.cnki.qhdxxb.2021.26.011

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Journal of Tsinghua University(Science and Technology) ›› 2022, Vol. 62 ›› Issue (3) : 438-446. DOI: 10.16511/j.cnki.qhdxxb.2021.26.011

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Robust LPV/H_∞ control for automatic path tracking of heavy commercial vehicles

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Abstract

The uncertainties of external disturbances and the nonlinearity of system states usually reduce path tracking accuracy for automatic path tracking of heavy commercial vehicles which then complicates the controller design. This paper presents a robust LPV (linear parameter varying)/H_∞ lateral motion controller which provides good path tracking accuracy regardless of uncertainties in the road curvature and variations of the longitudinal speed. A weighted performance index and the robust H_∞ controller were designed for heavy commercial vehicles using a generalized 4-DOF dynamic model and an automatic path tracking model. An improved trapezoidal polytope LPV controller was designed to account for the vehicle speed variations. Simulations and a hardware-in-loop (HIL) implementation show the effectiveness and real-time response of the control algorithm. The results show that this LPV/H_∞ control algorithm improves the conservativeness of the original control algorithm and significantly improves the trajectory tracking accuracy while ensuring automatic tracking stability of heavy commercial vehicles.

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heavy commercial vehicles / automatic path tracking / robust control / trapezoidal polytope / hardware-in-loop (HIL) implementation

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DONG Qing, JI Xuewu, LIU Yulong, TAO Shuxin, LIU Yahui. Robust LPV/H_∞ control for automatic path tracking of heavy commercial vehicles[J]. Journal of Tsinghua University(Science and Technology). 2022, 62(3): 438-446 https://doi.org/10.16511/j.cnki.qhdxxb.2021.26.011

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