Robust Learning-Based Gain-Scheduled Path Following Controller Design for Autonomous Ground Vehicles
Bibliographic record
Abstract
In this paper, a robust gain-scheduled path following controller for automated vehicles based on learning methods is presented. Two major challenges are overcome:1) Varying longitudinal velocity, uncertain cornering stiffness, and unmodelled uncertainties make dynamic-model-based controller design work complex. 2) Driving scenario changes deteriorate path following controller performance. An effective learning method, online updating least squares-support vector machine (LS-SVM) model is adopted for vehicle path following system considering varying velocity and cornering stiffness in this paper. Then the updating LS-SVM model is transformed into linear-parameter-varying (LPV) model with disturbance. The robust$H_\infty$controller design method is novelly employed to design path following controller for updating LS-SVM model. By this method a gain-scheduled output-feedback controller is designed. To improve transient performance, the poles of closed-loop system are assigned to desired regions. Simulation results using a high-fidelity and full-car model from CarSim have verified the effectiveness of the proposed control strategy.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".