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Gain Scheduling Output Feedback Control for Vehicle Path Tracking Considering Input Saturation

Author

Listed:
  • Chao Liu

    (Chassis & ADAS Department, SAIC Motor Technical Center, Shanghai 201800, China)

  • Weiqiang Zhao

    (State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China)

  • Jie Li

    (State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China)

Abstract

This paper presents a gain scheduling output feedback control method to reduce driver workload and improve driving performance by considering input saturation. The driver–vehicle system model is developed by considering tire cornering stiffness uncertainties and different driver parameter uncertainties. Meanwhile, the input saturation is also considered in the driver-vehicle system. A quadratic Lyapunov function is designed to solve the optimization problem with uncertainties and input saturation. The results, which are based on the MATLAB-CarSim co-simulation platform, indicate that the robust controller not only improves the convergence rate of the state but also reduces the steering workload of the driver.

Suggested Citation

  • Chao Liu & Weiqiang Zhao & Jie Li, 2020. "Gain Scheduling Output Feedback Control for Vehicle Path Tracking Considering Input Saturation," Energies, MDPI, vol. 13(17), pages 1-19, September.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:17:p:4570-:d:408478
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    Cited by:

    1. Hsun-Heng Tsai & Chyun-Chau Fuh & Jeng-Rong Ho & Chih-Kuang Lin, 2021. "Design of Optimal Controllers for Unknown Dynamic Systems through the Nelder–Mead Simplex Method," Mathematics, MDPI, vol. 9(16), pages 1-14, August.

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