离散时间Takagi-Sugeno镇定方法在自动驾驶汽车中的应用

M. Jemmali, H. Mouftah
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引用次数: 0

摘要

本文研究了一种新的自动驾驶汽车鲁棒控制设计。目标是在各种约束条件下进行车道保持,主要是未知曲率和侧风。为了实现这一目标,给出了一种新的并行分布补偿律。讨论了代表自动驾驶汽车的离散时间Takagi-Sugeno (T-S)模型的二次Lyapunov稳定性和镇定条件。从双线性矩阵不等式的线性化中提取出严格的线性矩阵不等式(LMIs),提出了充分的设计条件。最后通过一个实例说明了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Discrete-Time Takagi-Sugeno Stabilization Approach Applied in Autonomous Vehicles
This paper deals with a new robust control design for autonomous vehicles. The goal is to perform lane-keeping under various constraints, mainly unknown curvature and lateral wind force. To reach this goal, a new formulation of Parallel Distributed Compensation (PDC) law is given. The quadratic Lyapunov stability and stabilization conditions of the discrete-time Takagi–Sugeno (T-S) model representing the autonomous vehicles are discussed. Sufficient design conditions expressed in terms of strict Linear Matrix Inequalities (LMIs) extracted from the linearization of the Bilinear Matrix Inequalities (BMIs) are proposed. An illustrative example is provided to show the effectiveness of the proposed approach.
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