Robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> Fault-Tolerant Observer-Based PID Path Tracking Control of Autonomous Ground Vehicle With Control Saturation
In this study, a robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> observer-based PID path tracking control strategy is proposed for Autonomous Ground Vehicle (AGV) to efficiently attenuate the effect of external disturbance, a...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Open Journal of Vehicular Technology |
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| Online Access: | https://ieeexplore.ieee.org/document/10428042/ |
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| author | Bor-Sen Chen Hao-Ting Liu Ruei-Syuan Wu |
| author_facet | Bor-Sen Chen Hao-Ting Liu Ruei-Syuan Wu |
| author_sort | Bor-Sen Chen |
| collection | DOAJ |
| description | In this study, a robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> observer-based PID path tracking control strategy is proposed for Autonomous Ground Vehicle (AGV) to efficiently attenuate the effect of external disturbance, actuator/sensor fault signals, and control saturation to achieve the robust path tracking design. To simplify the design procedure, a novel path reference-based feedforward linearization scheme is proposed to transform nonlinear dynamic AGV system to an equivalent linear tracking error system with nonlinear actuator signal. To protect the AGV system from the corruption of actuator/sensor fault signals, two smoothed signal models are introduced to precisely estimate these fault signals to compensate their corruption. Further, the proposed <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> fault-tolerant observer-based PID path tracking control strategy of AGV system can be transformed to an equivalent bilinear matrix inequality (BMI). Consequently, by the proposed two-step method, the complex BMI can be transformed into two linear matrix inequalities (LMIs), which can be easily solved via LMI TOOLBOX in MATLAB. Therefore, control restriction is also considered to meet the constraints of physical actuator saturation on PID controller, making the proposed control scheme more applicable. Finally, the triple-lane change task of AGV is simulated as a numerical example to illustrate the design procedure and to validate the performance of proposed design method. |
| format | Article |
| id | doaj-art-ad31eb165ada44caaa9ae16c59999ccc |
| institution | Kabale University |
| issn | 2644-1330 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Vehicular Technology |
| spelling | doaj-art-ad31eb165ada44caaa9ae16c59999ccc2025-01-30T00:04:24ZengIEEEIEEE Open Journal of Vehicular Technology2644-13302024-01-01529831110.1109/OJVT.2024.336389710428042Robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> Fault-Tolerant Observer-Based PID Path Tracking Control of Autonomous Ground Vehicle With Control SaturationBor-Sen Chen0https://orcid.org/0000-0003-1644-6106Hao-Ting Liu1https://orcid.org/0009-0003-2509-041XRuei-Syuan Wu2https://orcid.org/0009-0004-0365-7806Department of Electrical Engineering, National Tsing-Hua University, Hsinchu, TaiwanDepartment of Electrical Engineering, National Tsing-Hua University, Hsinchu, TaiwanDepartment of Electrical Engineering, National Tsing-Hua University, Hsinchu, TaiwanIn this study, a robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> observer-based PID path tracking control strategy is proposed for Autonomous Ground Vehicle (AGV) to efficiently attenuate the effect of external disturbance, actuator/sensor fault signals, and control saturation to achieve the robust path tracking design. To simplify the design procedure, a novel path reference-based feedforward linearization scheme is proposed to transform nonlinear dynamic AGV system to an equivalent linear tracking error system with nonlinear actuator signal. To protect the AGV system from the corruption of actuator/sensor fault signals, two smoothed signal models are introduced to precisely estimate these fault signals to compensate their corruption. Further, the proposed <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> fault-tolerant observer-based PID path tracking control strategy of AGV system can be transformed to an equivalent bilinear matrix inequality (BMI). Consequently, by the proposed two-step method, the complex BMI can be transformed into two linear matrix inequalities (LMIs), which can be easily solved via LMI TOOLBOX in MATLAB. Therefore, control restriction is also considered to meet the constraints of physical actuator saturation on PID controller, making the proposed control scheme more applicable. Finally, the triple-lane change task of AGV is simulated as a numerical example to illustrate the design procedure and to validate the performance of proposed design method.https://ieeexplore.ieee.org/document/10428042/AGVactuator/sensor fault signalsrobust observer-based tracking controllinear matrix inequality (LMI)smoothed signal modelfault-tolerant control |
| spellingShingle | Bor-Sen Chen Hao-Ting Liu Ruei-Syuan Wu Robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> Fault-Tolerant Observer-Based PID Path Tracking Control of Autonomous Ground Vehicle With Control Saturation IEEE Open Journal of Vehicular Technology AGV actuator/sensor fault signals robust observer-based tracking control linear matrix inequality (LMI) smoothed signal model fault-tolerant control |
| title | Robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> Fault-Tolerant Observer-Based PID Path Tracking Control of Autonomous Ground Vehicle With Control Saturation |
| title_full | Robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> Fault-Tolerant Observer-Based PID Path Tracking Control of Autonomous Ground Vehicle With Control Saturation |
| title_fullStr | Robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> Fault-Tolerant Observer-Based PID Path Tracking Control of Autonomous Ground Vehicle With Control Saturation |
| title_full_unstemmed | Robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> Fault-Tolerant Observer-Based PID Path Tracking Control of Autonomous Ground Vehicle With Control Saturation |
| title_short | Robust <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> Fault-Tolerant Observer-Based PID Path Tracking Control of Autonomous Ground Vehicle With Control Saturation |
| title_sort | robust inline formula tex math notation latex h infty tex math inline formula fault tolerant observer based pid path tracking control of autonomous ground vehicle with control saturation |
| topic | AGV actuator/sensor fault signals robust observer-based tracking control linear matrix inequality (LMI) smoothed signal model fault-tolerant control |
| url | https://ieeexplore.ieee.org/document/10428042/ |
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