Exponentially dissipative vehicle path tracking control considering roll safety under network communications

초록

This paper proposes an exponentially dissipative vehicle path tracking control scheme that considers roll stability in the presence of time-varying delays and stochastic packet dropouts. The proposed controller simultaneously enhances lane-keeping performance and ride comfort by incorporating both lateral and roll dynamics into the system model. To attenuate the effects of disturbances, exponential dissipativity is introduced in the control design process, which covers existing results for the H infinity and passivity. On the other hand, the use of network communication in path tracking systems introduces challenges such as packet dropouts, transmission delays, and limited resources. A dynamic event-triggered mechanism using auxiliary variables plays an important role in efficiently utilizing communication resources. Moreover, a set of delay-dependent conditions for the desired controller is derived in terms of linear matrix inequalities using the generalized reciprocally convex technique with the canonical Bessel-Legendre inequality. Finally, the effectiveness of the proposed controller is evaluated under several driving scenarios using CarSim/Simulink co-simulation.

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