RobustH∞Fault-Tolerant Lateral Control of Four-Wheel-Steering Autonomous Vehicles

被引：1
|
作者：
Guo, Jinghua [1 ,3 ]
Luo, Yugong [2 ]
Li, Keqiang [2 ]
机构：
[1] Xiamen Univ, Sch Aerosp Engn, Xiamen 361005, Peoples R China
[2] Tsinghua Univ, State Key Lab Automot Safety & Energy, Beijing 100084, Peoples R China
[3] Xiamen Univ, Shenzhen Res Inst, Shenzhen 518000, Peoples R China
来源：
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY | 2020年 / 21卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Autonomous vehicles; Four wheel steering; Fault-tolerant control; Lateral control; Uncertainties; H-INFINITY CONTROL; ELECTRIC VEHICLES; ROBUST-CONTROL; FAULT; TRACKING; SYSTEMS; DESIGN;
D O I：
10.1007/s12239-020-0094-8
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a robustH(infinity)fault-tolerant lateral controller of four wheel steering autonomous vehicles to enhance the autonomous driving performance and to track the desired road when a steering wheel fault happens. First, the lateral dynamic model of four wheel steering autonomous vehicles is constructed, which contains the features of parameter uncertainties and actuator faults of vehicles. Then, since the faulty steering wheel may fail to offer the desired torque and harm the lateral motion control system of autonomous vehicles, a novel robustH(infinity)fault tolerant state feedback lateral control law of four steering autonomous vehicles is designed to deal with actuator faults and parameter uncertainties. Finally, simulation tests are implemented in the Adams-Simulink joint platform with a high-fidelity and full-car model, and results verify the validity of this proposed control scheme.
引用
收藏
页码：993 / 1000
页数：8
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