Optimal robust path tracking control for multi-constrained underactuated vehicles based on uncertainty orthogonal decomposition

Abstract

In this article, an optimal robust constraint-following control is proposed for the underactuated vehicle path tracking problem. First, an underactuated dynamic model is established according to Udwadia–Kalaba (UK) equation, and the system uncertainty is decomposed into matching and mismatching portions based on the system geometric characteristics. The mismatching uncertainty is orthogonal to task space; thus, its influence on system stability is eliminated. Second, the diffeomorphism method is used to creatively set inequality and equality constraints into new equality constraints, and a robust control method for front steering vehicles with parameter-tunable is proposed. Third, an optimal design scheme is proposed for the tunable parameters to minimize the comprehensive index of system performance and control cost. Carsim-Simulink co-simulation shows the effectiveness of the proposed optimal robust control. This article creatively solves the problem of optimal robust control for path tracking of multi-constrained underactuated vehicles.