Publication:
Event-Triggered Robust Path Tracking Control Considering Roll Stability Under Network-Induced Delays for Autonomous Vehicles

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dc.affiliation.areaUC3M. Área de Ingeniería Mecánicaes
dc.affiliation.dptoUC3M. Departamento de Ingeniería Mecánicaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Advanced Vehicle Dynamics and Mechatronic Systems - VEDYMECes
dc.contributor.authorViadero Monasterio, Fernando
dc.contributor.authorNguyen, Anh-Tu
dc.contributor.authorLauber, Jimmy
dc.contributor.authorLópez Boada, María Jesús
dc.contributor.authorLópez Boada, Beatrizes
dc.date.accessioned2023-12-21T08:27:01Z
dc.date.available2023-12-21T08:27:01Z
dc.date.issued2023-10-13
dc.description.abstractThis paper proposes a multi-input multi-output (MIMO) method for path tracking control of autonomous vehicles under network-induced delays while taking into account the roll dynamics to improve both the driving safety and the passenger comfort. The steering control is directly applied to the front wheels, while the anti-roll moment is exerted by an active suspension. The asynchronous phenomenon caused by the sampling process and the time-varying vehicle speed are explicitly taken into account in the control design using a polytopic linear parameter-varying (LPV) control approach. Moreover, to avoid using costly vehicle sensors and complex control structures, a static output feedback (SOF) control scheme is considered. An effective event-triggering mechanism is also proposed to alleviate the communication burden of the vehicle networked control system. Based on augmented Lyapunov-Krasovskii functional, the control design conditions are derived to guarantee the vehicle closed-loop stability under the effects of transmission delays, event-triggered control signals and time-varying parameters. The design procedure is reformulated as an iterative optimization problem involving linear matrix inequality (LMI) constraints, which can be effectively solved with available numerical solvers. The proposed event-triggered SOF controller is evaluated with the vehicle dynamics simulation software CarSim under several dynamic scenarios. A comparative study with related vehicle control results is performance to emphasize the effectiveness of the control method in terms of path tracking performance, driving safety and comfort, and data communication efficiency of the vehicle networked control system.en
dc.description.sponsorshipThis work was supported in part by the National Funding and Cooperation-Research and Development Projects (RDPs) under Grant PID2022-136468OB-I00, in part by the Recherche et Innovation en Transports et Mobilité Eco-responsables et Autonomes (RITMEA) Program of the Hauts-de-France Region, in part by the European Community, in part by the Regional Delegation for Research and Technology, in part by the French Ministry of Higher Education and Research, and in part by the French National Center for Scientific Researchen
dc.format.extent14es
dc.identifier.bibliographicCitationViadero-Monasterio, F., Nguyen, A., Lauber, J., López Boada, M. J., & López Boada, B. (2023). Event-Triggered robust path tracking control considering roll stability under Network-Induced delays for autonomous vehicles. IEEE Transactions on Intelligent Transportation Systems, 24(12), 14743-14756.en
dc.identifier.doihttps://doi.org/10.1109/TITS.2023.3321415
dc.identifier.issn1524-9050
dc.identifier.publicationfirstpage14743es
dc.identifier.publicationissue12es
dc.identifier.publicationlastpage14756es
dc.identifier.publicationtitleIEEE Transactions on Intelligent Transportation Systemsen
dc.identifier.publicationvolume24es
dc.identifier.urihttps://hdl.handle.net/10016/39142
dc.identifier.uxxiAR/0000033429
dc.language.isoenges
dc.publisherIEEEen
dc.relation.datasethttps://doi.org/10.21950/NUBYHR
dc.relation.projectIDGobierno de España. PID2022-136468OB-I00es
dc.rights© 2023 The Authors.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaIngeniería Mecánicaes
dc.subject.ecienciaMaterialeses
dc.subject.otherPath trackingen
dc.subject.otherActive suspensionen
dc.subject.otherRoll stability controlen
dc.subject.otherNetworked control systemsen
dc.subject.otherEvent-triggered controlen
dc.titleEvent-Triggered Robust Path Tracking Control Considering Roll Stability Under Network-Induced Delays for Autonomous Vehiclesen
dc.typeresearch articleen
dc.type.hasVersionVoRen
dspace.entity.typePublication
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