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Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters
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Yuanlong XIE1, Shuting WANG1, Liquan JIANG2,3, Hu LI1, Hao Wu1, Sheng-quan XIE4. Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters[J]. Journal of Zhejiang University Science A, 1998, -1(-1): .
@article{title="Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters",
author="Yuanlong XIE1, Shuting WANG1, Liquan JIANG2,3, Hu LI1, Hao Wu1, Sheng-quan XIE4",
journal="Journal of Zhejiang University Science A",
volume="-1",
number="-1",
pages="",
year="1998",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2500327"
}
%0 Journal Article
%T Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters
%A Yuanlong XIE1
%A Shuting WANG1
%A Liquan JIANG2
%A 3
%A Hu LI1
%A Hao Wu1
%A Sheng-quan XIE4
%J Journal of Zhejiang University SCIENCE A
%V -1
%N -1
%P
%@ 1673-565X
%D 1998
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2500327
TY - JOUR
T1 - Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters
A1 - Yuanlong XIE1
A1 - Shuting WANG1
A1 - Liquan JIANG2
A1 - 3
A1 - Hu LI1
A1 - Hao Wu1
A1 - Sheng-quan XIE4
J0 - Journal of Zhejiang University Science A
VL - -1
IS - -1
SP -
EP -
%@ 1673-565X
Y1 - 1998
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2500327
Abstract: We propose a robust self-triggered switching control scheme for four-wheel-steering autonomous ground vehicles (FAGVs) to enhance tracking precision in the face of significant parameter variations. First, using the polytopic mechanism, the nonlinear dynamics of a FAGV are formulated as a switched linear parameter-varying system to accommodate parametric perturbations. With suitable dwell time, a novel self-triggered switching law is designed using energy density in terms of the tracking accuracy and system robustness; this satisfies the required control criteria while also preventing the Zeno phenomenon caused by traditional high-frequency switching. Through the application of multiple parameter-correlated Lyapunov functions, the resultant closed-loop system is ensured to be asymptotically stable with suitable auto-tuned gains. Finally, the efficacy and superiority of the proposed method are verified through experiments with a FAGV system.
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