弯曲道路上自动驾驶地面车辆的全状态约束有限时间运动控制

2021 5th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2021-10-29 DOI:10.1109/CVCI54083.2021.9661159

Haorui Cheng, Hongjiu Yang, Z. Zuo, Hai Zhao

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引用次数: 0

摘要

本文采用基于Barrier Lyapunov函数(BLF)的有限时间运动控制方案，开发了考虑全状态约束的自主地面车辆(AGV)运动系统。针对AGV运动系统中具有全状态约束的横向子系统，设计了一种基于blf的有限时间横向控制器。针对AGV运动系统中纵向子系统的控制偏差，提出了一种基于blf的有限时间纵向控制器。设计了两个非线性观测器来估计AGV运动系统的横向子系统和纵向子系统的未建模动力学。在AGV实验平台上进行了实验，验证了全状态约束有限时间运动控制方案的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Finite-Time Motion Control with Full-State Constraints for Autonomous Ground Vehicles on Curved Roads

In this paper, an autonomous ground vehicle (AGV) motion system is developed considering full-state constraints by a Barrier Lyapunov functions (BLF) based finite-time motion control scheme. A BLF-based finite-time lateral controller is designed for the lateral subsystem in the AGV motion system with full-state constraints. A BLF-based finite-time longitudinal controller is proposed to limit the control deviation within a constraint for the longitudinal subsystem in the AGV motion system. Two nonlinear observers are designed to estimate the unmodeled dynamics in the lateral subsystem and the longitudinal subsystem of the AGV motion system. Effectiveness of the finite-time motion control scheme with full-state constraints is displayed by experimental results on an AGV experimental platform.

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2021 5th CAA International Conference on Vehicular Control and Intelligence (CVCI)

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