在這個研究中，我們提出了一種強健性H_∞基於觀測器的PID路徑追蹤控制設計，用於受到外部干擾、致動器/感測器錯誤信號和控制飽和效應的自主地面車輛（AGV）。為了保護AGV系統免受致動器/感測器錯誤信號的損害，我們引入了兩個平滑信號模型。這些平滑信號模型被用於精確估計這些錯誤信號，並作為擴充系統遷入到AGV的動態系統中。接著，估測的系統動態與錯誤信號都能被作用於擴增系統的Luenberger型觀測器同時估測。透過使用被估測的系統狀態與錯誤訊號，一個強健性H_∞錯誤容忍基於觀測器的PID路徑追蹤控制器被提出，以從能量的角度有效地減小未知干擾和攻擊信號對AGV的路徑追蹤和狀態估計性能的影響。此外，通過一種新的前饋線性化控制架構，可以顯著簡化在實作所提出的強健性H_∞錯誤容忍基於觀測器的PID路徑追蹤控制策略時的困難。然後，通過二次Lyapunov函數，設計過程被轉化為如何透過MATLAB LMI TOOLBOX輕鬆解決兩步驟線性矩陣不等式（LMI）問題。此外，控制飽和也同時在設計控制策略時被納入考量以滿足PID控制器對物理致動器的限制條件，使所提出的控制方案更加實用。最後，我們以AGV的三車道變換任務為例進行了數值模擬，以說明設計過程並驗證所提出的設計方法的性能。

In this study, a robust H_∞ observer-based PID path tracking control design is proposed for Autonomous Ground Vehicle (AGV) under the effect of external disturbance, actuator/sensor fault signals and control saturation. To protect the AGV system from the corruption of actuator/sensor fault signals, two smoothed signal models are introduced. These smoothed signal models are utilized to precisely estimate these fault signals and are integrated with the AGV dynamics system as an augmented system. Then, both system states and fault signals are estimated by the proposed Luenberger-type observer of augmented system simultaneously. By utilizing the estimated system states and fault signals, a robust H_∞ fault-tolerant observer-based PID path tracking controller is implemented to efficiently attenuate the influence of unknown disturbance and attack signals on the path tracking and state estimation performance of AGV from the energy point of view. Moreover, the implementation of proposed H_∞ fault-tolerant observer-based PID path tracking control strategy can be significantly simplified by a novel feedforward linearization control scheme. Then, by quadratic Lyapunov function, the design procedure becomes how to solve a two-step linear matrix inequality (LMI) via LMI TOOLBOX in MATLAB easily. Further, control restriction is also considered to meet the constraints of physical actuator saturation on PID controller, making the proposed control scheme more applicable. Finally, the triple lane changes task of AGV is simulated as a numerical example to illustrate the design procedure and to validate the performance of proposed design method.

摘要：I
Abstract：II
致謝：III
Content：IV
I. INTRODUCTION：1
II. PRELIMINARY AND PROBLEM FORMULATION：4
II.A. SYSTEM DYNAMIC MODEL OF AUTONOMOUS GROUND VEHICLE：4
II.B. PROBLEM FORMULATION：12
III. ROBUST H∞ FAULT-TOLERANT OBSERVER-BASED PID PATH TRACKING CONTROL STRATEGY FOR AGV SYSTEM WITH CONTROL SATURATION：12
IV. SIMULATION EXAMPLE：18
IV.A. STRUCTURE OF SYSTEMS：19
IV.B. SIMULATION RESULTS：19
V. CONCLUSION：28
REFERENCE：29

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