This article addresses the lateral control problem of nonlinear autonomous ground vehicles (AGVs) with time-varying velocities. A novel solution is provided for making nonlinear AGVs drive smoothly along a predetermined path in the presence of external disturbances. First, a new controller based on the homogeneous polynomial technique is designed to improve the control flexibility so as to enhance the control effect of the vehicle facing the change in road curvature. Second, a more relaxed stability criterion is derived by using convex optimization techniques and relaxation techniques to ensure the exponential stability of the closed-loop vehicle system. Finally, the MATLAB/Simulink-CarSim co-simulation platform is used to verify the proposed control strategy's effectiveness.

中文翻译：

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通过新型齐次多项式参数相关型模糊控制器对自主地面车辆进行横向控制


本文解决了速度随时间变化的非线性自主地面车辆 (AGV) 的横向控制问题。提供了一种新颖的解决方案，使非线性 AGV 在存在外部干扰的情况下沿着预定路径平稳行驶。首先，设计了一种基于齐次多项式技术的新型控制器，提高控制灵活性，从而增强车辆面对道路曲率变化的控制效果。其次，利用凸优化技术和松弛技术导出更宽松的稳定性准则，以保证闭环车辆系统的指数稳定性。最后利用MATLAB/Simulink-CarSim联合仿真平台验证了所提控制策略的有效性。