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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >LTV Controller Design for Vehicle Lateral Control Under Fault in Rear Sensors
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LTV Controller Design for Vehicle Lateral Control Under Fault in Rear Sensors

机译：后传感器故障下车辆横向控制的LTV控制器设计

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This paper focuses on vehicle lateral control for automated highway systems (AHSs) studied as a part of the California Partners for Advanced Transit and Highways (PATH) Program. In the PATH lateral control system, magnetometers are installed under both front and rear bumpers of the vehicle; these magnetometers measure the lateral deviation of the vehicle relative to the magnets buried along the centerline of each automated lane. Lateral controllers have been designed and tested successfully provided that there is no fault in magnetometers. It has been argued that these controllers are NOT tolerant to the fault in magnetometers. The focus of this paper is the degraded-mode lateral control under fault in rear magnetometers. The aim of the controller design is to accomplish adequate performance with the remaining set of magnetometers, the front magnetometers. The effects of the fault are examined, and the significance of the linear time-varying (LTV) property of the front-magnetometer-based vehicle lateral dynamics is recognized. Popular control methods for LTV systems generally involve gain scheduling by switching between several linear time-invariant (LTI) controllers. Such methods are complicated and it is difficult to prove the stability of the switching mechanism. To derive a simple effective LTV controller, feedback linearization is applied to approximately cancel out the time-varying terms in the plant and to function as a gain scheduler. However, due to the weakly damped zeroes of the plant, feedback linearization with state feedback or matched observer state feedback results in weakly damped internal dynamics. In order to tune the internal dynamics, a mismatched observer is designed based on H-infinity optimal control techniques. Experimental results are presented to show the effectiveness of the controller design.
机译：本文重点研究自动高速公路系统（AHS）的车辆横向控制，这是“加利福尼亚高级运输和高速公路合作伙伴（PATH）计划”的一部分。在PATH横向控制系统中，磁力计安装在车辆的前后保险杠下方；这些磁力计测量车辆相对于沿每个自动车道中心线埋入的磁铁的横向偏斜。如果磁力计没有故障，则已经成功设计和测试了横向控制器。有人认为这些控制器不能容忍磁力计的故障。本文的重点是后磁力计在故障下的降级模式横向控制。控制器设计的目的是用其余的磁力计（前部磁力计）实现足够的性能。检查了故障的影响，并认识到基于前磁强计的车辆横向动力学的线性时变（LTV）特性的重要性。用于LTV系统的流行控制方法通常涉及通过在几个线性时不变（LTI）控制器之间切换来进行增益调度。这样的方法很复杂，并且难以证明切换机构的稳定性。为了获得简单有效的LTV控制器，可应用反馈线性化来近似抵消工厂中的时变项，并用作增益调度器。但是，由于设备的零阻尼弱，具有状态反馈或匹配的观察者状态反馈的反馈线性化会导致内部动态阻尼弱。为了调整内部动态，基于H无限最优控制技术设计了一个不匹配的观察器。实验结果表明了控制器设计的有效性。

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