Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject to Wheel Slip Constraint

被引：0

作者：

Chen, Changfang ^{[1
]}

Jia, Yingmin ^{[1
,2
]}

Du, Junping ^{[3
]}

Yu, Fashan ^{[4
]}

机构：

[1] Beihang Univ BUAA, Res Div 7, Beijing 100191, Peoples R China

[2] Beihang Univ, Key Lab Informat Math & Behav Semant LIMB, SMSS, Beijing 100191, Peoples R China

[3] Beijing Univ Posts & Telecommun, Sch Comp Sci & Technol, Beijing Key Lab Intelligent Telecommun Software &, Beijing 100876,, Peoples R China

[4] Henan Polytech Univ, Sch Elect Engn & Automat, Jiaozuo, Henan 454000, Peoples R China

来源：

2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年

关键词：

DRIVER STEERING ASSISTANCE; DEPARTURE AVOIDANCE; LATERAL CONTROL; PERFORMANCE; MOTION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.

引用

页码：6515 / 6520

页数：6

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