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Observer-based gain scheduling path following control for autonomous electric vehicles subject to time delay
Chu,Shaoqiang1,2; Xie,Zhengchao1,2; Wong,Pak Kin3; Li,Panshuo4; Li,Wenfeng1,2; Zhao,Jing3
Source PublicationVehicle System Dynamics

This paper presents a novel observer-based gain-scheduling path following control algorithm for autonomous electric vehicles subject to time delay. Firstly, the lateral dynamic model of the autonomous electric vehicle is constructed by a polytope with four vertices, in which the issues of the time-varying longitudinal velocity and nonlinear tyre dynamics are accurately described. Secondly, taking the time delay encountered in the process of signal transmission into consideration, the observer-based path following controller is proposed by using easily measured vehicle states. In the algorithm, the observer and controller gains are gain scheduled according to the actual longitudinal velocity. Thirdly, based on Lyapunov stability theory, an appropriate Lyapunov–Krasovskii functional is constructed to derive sufficient conditions of the controller, which is effective to ensure the asymptotical stability of the closed-loop path following error system with a guaranteed (Formula presented.) performance. Specially, for ease of computation, the sufficient conditions of controller design are developed in terms of a set of linear matrix inequalities. Finally, numerical simulations are implemented to illustrate the efficiency and superiority of the proposed method in comparison with the existing method.

KeywordAutonomous Electric Vehicle Gain Scheduling Observer Path Following Time Delay
URLView the original
Indexed BySCIE
WOS Research AreaEngineering
WOS SubjectEngineering, Mechanical
WOS IDWOS:000604385100001
Scopus ID2-s2.0-85098642358
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
Faculty of Science and Technology
Corresponding AuthorXie,Zhengchao
Affiliation1.School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou,China
2.Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing,South China University of Technology,Guangzhou,China
3.Department of Electromechanical Engineering,University of Macau,Taipa,Macao
4.School of Automation,Guangdong University of Technology,Guangzhou,China
Recommended Citation
GB/T 7714
Chu,Shaoqiang,Xie,Zhengchao,Wong,Pak Kin,et al. Observer-based gain scheduling path following control for autonomous electric vehicles subject to time delay[J]. Vehicle System Dynamics,2022,60(5):1602-1626.
APA Chu,Shaoqiang,Xie,Zhengchao,Wong,Pak Kin,Li,Panshuo,Li,Wenfeng,&Zhao,Jing.(2022).Observer-based gain scheduling path following control for autonomous electric vehicles subject to time delay.Vehicle System Dynamics,60(5),1602-1626.
MLA Chu,Shaoqiang,et al."Observer-based gain scheduling path following control for autonomous electric vehicles subject to time delay".Vehicle System Dynamics 60.5(2022):1602-1626.
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