Lane keeping control for 4WS4WD vehicles subject to wheel slip constraint

被引：0

作者：

Chen, Changfang ^{[1
,2
]}

Jia, Yingmin ^{[1
,2
,3
]}

Du, Junping ^{[4
]}

Yu, Fashan ^{[5
]}

机构：

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

[2] Beihang Univ BUAA, Dept Syst & Control, Beijing 100191, Peoples R China

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

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

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

来源：

PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12) | 2012年

关键词：

Combined wheel slip; lane keeping; linear matrix inequality(LMI); wheel skidding; LATERAL CONTROL;

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 lane keeping control scheme that prevents an autonomous 4WS4WD vehicle from wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane departure avoidance, 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. Simulations show that the proposed controller effectively limits the combined wheel slip and improves lane keeping performance.

引用

页码：374 / 377

页数：4

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