JZUS - Journal of Zhejiang University SCIENCE

Journal of Zhejiang University SCIENCE A

Accepted manuscript available online (unedited version)

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

Author(s): Yuanlong XIE¹, Shuting WANG¹, Liquan JIANG^2, ³, Hu LI¹, Hao Wu¹, Sheng-quan XIE⁴
Affiliation(s): ¹School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China ²State Key Laboratory of New Textile Materials and Advanced Processing Technologies, Wuhan Textile University, Wuhan 430200, China ³Hubei Key Laboratory of Digital Textile Equipment, Wuhan Textile University, Wuhan 430200, China ⁴School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK
Corresponding email(s): Liquan JIANG, lqjiang@wtu.edu.cn
Key Words: Varying linear parameters, autonomous ground vehicle, switching controller

Share this article to： More <<< Previous Paper \|Next Paper >>>

Yuanlong XIE¹, Shuting WANG¹, Liquan JIANG^2,³, 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,in press.Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/jzus.A2500327

@article{title="Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters",
author="Yuanlong XIE¹, Shuting WANG¹, Liquan JIANG^2,³, Hu LI¹, Hao Wu¹, Sheng-quan XIE⁴",
journal="Journal of Zhejiang University Science A",
year="in press",
publisher="Zhejiang University Press & Springer",
doi="https://doi.org/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 JIANG^2
%A³
%A Hu LI¹
%A Hao Wu¹
%A Sheng-quan XIE⁴
%J Journal of Zhejiang University SCIENCE A
%P
%@ 1673-565X
%D in press
%I Zhejiang University Press & Springer
doi="https://doi.org/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 JIANG^{2
A1 -}³
A1 - Hu LI¹
A1 - Hao Wu¹
A1 - Sheng-quan XIE⁴
J0 - Journal of Zhejiang University Science A
SP -
EP -
%@ 1673-565X
Y1 - in press
PB - Zhejiang University Press & Springer
ER -
doi="https://doi.org/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 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.

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

Reference

Open peer comments: Debate/Discuss/Question/Opinion

<1>

- Go to

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

Reference