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基于状态感知的UGV H∞事件触发路径跟踪控制
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作者单位:

曲阜师范大学 工学院, 山东 日照

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基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目),中国博士后科学基金 ,上海科委国际合作项目,山东省自然科学基金项目


State-sensitive-based Event-triggered H∞ Control for Path Tracking of Unmanned Ground Vehicle
Author:
Affiliation:

College of Engineering, Qufu Normal University,Rizhao shandong

Fund Project:

National Natural Science Foundation of China,China Postdoctoral Science Foundation,International Corporation Project of Shanghai Science and Technology Commission,Natural Science Foundation of Shandong Province of China

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    摘要:

    针对通信受限下的无人驾驶车辆路径跟踪控制问题,本文提出了一种基于状态感知的H∞事件触发路径跟踪控制策略.首先,根据车辆的动力学行为建立了相应的路径跟踪控制模型;其次,基于对路径跟踪控制系统的状态实时感知,设计了一种新型的基于状态感知的事件触发通信策略(SS-ETC),以根据控制系统的状态对事件触发阈值进行动态自适应的调整;然后,在该动态事件触发通信策略下,结合时滞系统建模方法与Lyapunov 稳定性理论,设计了基于状态感知的事件触发H∞控制器.本文所提出的基于状态感知的动态事件触发通信策略能够根据控制系统的量测状态进行通信阈值的动态调整,有效的实现了自主车辆通信与控制的自适应协同设计.最后,通过仿真实验验证了所提出的动态事件触发控制策略的有效性.

    Abstract:

    This paper proposes a state-sensitive event-triggered H∞ control strategy to solve the problem of unmanned ground vehicle (UGV) path tracking control under communication restriction. Firstly, the corresponding path tracking control model is established according to the dynamics of the connected vehicle. Secondly, a novel state-sensitive event-triggered communication (SS-ETC) strategy according to the state perception of path tracking in real time is proposed. Then, an event-triggered H∞ controller is designed by combining with time delay system modeling method and Lyapunov stability theory. The proposed dynamic event-triggered communication strategy based on state perception can dynamically adjust the communication threshold according to the state measurements of the control system, and effectively realize the adaptive co-design of UGV communication and control. Finally, the effectiveness of the proposed dynamic event-triggered control strategy is verified by simulation experiments.

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  • 收稿日期: 2021-10-07
  • 最后修改日期: 2021-12-20
  • 录用日期: 2021-12-23
  • 在线发布日期: 2022-05-17
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