Emergency Autonomous Steering Control Research Based on Receding Horizon <italic>H<sub>∞</sub></italic> Control and Minimax Criteria
Aiming at the problems of model uncertainty, external interference of road conditions, and inherent nonlinearity of lateral movement of autonomous driving vehicles, this paper proposes an effective control technology for an automatic steering system, namely, the receding horizon <inline-formula&g...
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2021
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oai:doaj.org-article:eae30a86803d42479dd878ab1816050f2021-11-17T00:00:22ZEmergency Autonomous Steering Control Research Based on Receding Horizon <italic>H<sub>∞</sub></italic> Control and Minimax Criteria2169-353610.1109/ACCESS.2021.3124488https://doaj.org/article/eae30a86803d42479dd878ab1816050f2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9597495/https://doaj.org/toc/2169-3536Aiming at the problems of model uncertainty, external interference of road conditions, and inherent nonlinearity of lateral movement of autonomous driving vehicles, this paper proposes an effective control technology for an automatic steering system, namely, the receding horizon <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> control, which has good path tracking performance and can overcome external interference. First, a two-degree-of-freedom vehicle model and a road model are established. Then, the Hamilton equation is established using Pontriagin’s minimum principle, and the optimal control solution and the most serious disturbance are solved based on the minimax principle. Finally, in order to evaluate the receding horizon <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> autonomous steering control method, lane change simulation and hardware in the loop simulation are developed to describe the effect of receding horizon <inline-formula> <tex-math notation="LaTeX">$H_{\mathrm {\infty }}$ </tex-math></inline-formula>. The simulation results show that the model predictive control (MPC) and linear matrix inequality (LMI) controller will exhibit oscillation and instability under the condition of external interference. To improve the stability, the <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> controller reduces part of the performance, while the rolling horizon <inline-formula> <tex-math notation="LaTeX">$H_{\mathrm {\infty }}$ </tex-math></inline-formula> strategy can ensure the robustness of automatic steering and has a certain anti-interference performance.Yi XuJinju ShaoSong GaoYingchao ZhouIEEEarticleIntelligent transport systemsautonomous steering systemreceding horizon <italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞ controlmin-max optimizationvehicle dynamicsElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 151781-151792 (2021) |
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Intelligent transport systems autonomous steering system receding horizon <italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞ control min-max optimization vehicle dynamics Electrical engineering. Electronics. Nuclear engineering TK1-9971 |
| spellingShingle |
Intelligent transport systems autonomous steering system receding horizon <italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞ control min-max optimization vehicle dynamics Electrical engineering. Electronics. Nuclear engineering TK1-9971 Yi Xu Jinju Shao Song Gao Yingchao Zhou Emergency Autonomous Steering Control Research Based on Receding Horizon <italic>H<sub>∞</sub></italic> Control and Minimax Criteria |
| description |
Aiming at the problems of model uncertainty, external interference of road conditions, and inherent nonlinearity of lateral movement of autonomous driving vehicles, this paper proposes an effective control technology for an automatic steering system, namely, the receding horizon <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> control, which has good path tracking performance and can overcome external interference. First, a two-degree-of-freedom vehicle model and a road model are established. Then, the Hamilton equation is established using Pontriagin’s minimum principle, and the optimal control solution and the most serious disturbance are solved based on the minimax principle. Finally, in order to evaluate the receding horizon <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> autonomous steering control method, lane change simulation and hardware in the loop simulation are developed to describe the effect of receding horizon <inline-formula> <tex-math notation="LaTeX">$H_{\mathrm {\infty }}$ </tex-math></inline-formula>. The simulation results show that the model predictive control (MPC) and linear matrix inequality (LMI) controller will exhibit oscillation and instability under the condition of external interference. To improve the stability, the <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> controller reduces part of the performance, while the rolling horizon <inline-formula> <tex-math notation="LaTeX">$H_{\mathrm {\infty }}$ </tex-math></inline-formula> strategy can ensure the robustness of automatic steering and has a certain anti-interference performance. |
| format |
article |
| author |
Yi Xu Jinju Shao Song Gao Yingchao Zhou |
| author_facet |
Yi Xu Jinju Shao Song Gao Yingchao Zhou |
| author_sort |
Yi Xu |
| title |
Emergency Autonomous Steering Control Research Based on Receding Horizon <italic>H<sub>∞</sub></italic> Control and Minimax Criteria |
| title_short |
Emergency Autonomous Steering Control Research Based on Receding Horizon <italic>H<sub>∞</sub></italic> Control and Minimax Criteria |
| title_full |
Emergency Autonomous Steering Control Research Based on Receding Horizon <italic>H<sub>∞</sub></italic> Control and Minimax Criteria |
| title_fullStr |
Emergency Autonomous Steering Control Research Based on Receding Horizon <italic>H<sub>∞</sub></italic> Control and Minimax Criteria |
| title_full_unstemmed |
Emergency Autonomous Steering Control Research Based on Receding Horizon <italic>H<sub>∞</sub></italic> Control and Minimax Criteria |
| title_sort |
emergency autonomous steering control research based on receding horizon <italic>h<sub>∞</sub></italic> control and minimax criteria |
| publisher |
IEEE |
| publishDate |
2021 |
| url |
https://doaj.org/article/eae30a86803d42479dd878ab1816050f |
| work_keys_str_mv |
AT yixu emergencyautonomoussteeringcontrolresearchbasedonrecedinghorizonitalichsubx221esubitaliccontrolandminimaxcriteria AT jinjushao emergencyautonomoussteeringcontrolresearchbasedonrecedinghorizonitalichsubx221esubitaliccontrolandminimaxcriteria AT songgao emergencyautonomoussteeringcontrolresearchbasedonrecedinghorizonitalichsubx221esubitaliccontrolandminimaxcriteria AT yingchaozhou emergencyautonomoussteeringcontrolresearchbasedonrecedinghorizonitalichsubx221esubitaliccontrolandminimaxcriteria |
| _version_ |
1718426081425358848 |