Journal of Zhejiang University

Journal of Zhejiang University SCIENCE A 2026 Vol.27 No.5 P.453-465

Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters

Author(s): Yuanlong XIE, Shuting WANG, Liquan JIANG, Hu LI, Hao WU, Sheng-quan XIE
Affiliation(s): 1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China more
Corresponding email(s): lqjiang@wtu.edu.cn
Key Words: Varying linear parameters, Autonomous ground vehicle, Switching controller, Zeno avoidance, Robust control

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Yuanlong XIE, Shuting WANG, Liquan JIANG, Hu LI, Hao WU, Sheng-quan XIE. Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters[J]. Journal of Zhejiang University Science A, 2026, 27(5): 453-465.

@article{title="Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters",
author="Yuanlong XIE, Shuting WANG, Liquan JIANG, Hu LI, Hao WU, Sheng-quan XIE",
journal="Journal of Zhejiang University Science A",
volume="27",
number="5",
pages="453-465",
year="2026",
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 XIE
%A Shuting WANG
%A Liquan JIANG
%A Hu LI
%A Hao WU
%A Sheng-quan XIE
%J Journal of Zhejiang University SCIENCE A
%V 27
%N 5
%P 453-465
%@ 1673-565X
%D 2026
%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 XIE
A1 - Shuting WANG
A1 - Liquan JIANG
A1 - Hu LI
A1 - Hao WU
A1 - Sheng-quan XIE
J0 - Journal of Zhejiang University Science A
VL - 27
IS - 5
SP - 453
EP - 465
%@ 1673-565X
Y1 - 2026
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2500327

Abstract
Chinese Summary
Academic Network
Reviewer Comment

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 an 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 an FAGV system.

自主引导车辆线性参数时变系统的鲁棒自触发切换控制研究

作者：谢远龙¹，王书亭¹，蒋立泉^2,3，李虎¹，吴昊¹，谢胜泉⁴
机构：¹华中科技大学，机械科学与工程学院，中国武汉，430074；²武汉纺织大学，纺织新材料与先进加工全国重点实验室，中国武汉，430200；³武汉纺织大学，湖北省数字化纺织装备重点实验室，中国武汉，430200;⁴利兹大学,电子与电气工程学院，英国利兹，LS2 9JT
目的：四轮转向自主引导车辆（FAGV）在运行时，其动力学参数易受载荷变化、路面条件和工况等因素影响，导致轨迹跟踪精度下降甚至系统不稳定。本文旨在针对FAGV在存在大范围参数变化和多重扰动条件下的横向动力学控制问题，构建一种鲁棒的自触发切换控制方法，以实现高精度、强鲁棒性的轨迹跟踪控制。
创新点：1.将非线性动力学系统表示为切换线性参数时变（LPV）子系统集合，并提出一种基于多面体划分的LPV建模方法。2.在无需外部切换信号的情况下，提出一种基于能量密度的自触发切换机制。3.构建多参数相关的时变Lyapunov函数，并实现增益的在线调节。
方法：1.基于FAGV横向动力学特性，采用多面体方法对时变参数进行分析，并建立切换LPV动力学模型，为后续切换控制提供统一建模框架。2.以跟踪误差和系统鲁棒性为性能指标，引入能量密度函数，设计状态驱动的自触发切换律，并在切换条件中显式融合驻留时间约束，以抑制高频切换行为。3.利用多参数相关Lyapunov函数对切换LPV闭环系统进行稳定性分析，推导相应的控制器设计条件，并结合增益调节策略实现控制参数的在线自适应调节。4.通过工业FAGV平台开展实验验证，对比分析不同控制策略下的轨迹跟踪性能与系统稳定性，验证所提出方法在复杂工况下的有效性与优越性。
结论：1.采用切换LPV建模与控制策略能够更准确地建立系统动态特性，并显著提升轨迹跟踪精度。2.基于能量密度的自触发切换机制能够在保证控制性能的同时有效避免Zeno现象，提高了切换控制方法在实际工程中的可实现性和可靠性。3.多参数相关Lyapunov函数与在线增益调度策略的引入，确保了系统在整个切换过程中的渐近稳定性和鲁棒性；实验结果表明，该方法能够满足工业FAGV高精度轨迹跟踪控制的需求。

关键词：适线性参数时变；自主引导车辆；切换控制器；Zeno回避；鲁棒控制

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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