Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking

Mohamed Soliman; Abdulrazaq Nafiu Abubakar; Abdul Wahid A. Saif

doi:10.1109/SSD64182.2025.10989941

Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking

Mohamed Soliman
, Abdulrazaq Nafiu Abubakar
, Abdul Wahid A. Saif

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This research paper examines resilient H ∞ path-tracking control for networked autonomous vehicles (AVs) facing unforeseen disturbances, packet loss, and delays. A developed robust control technique, integrating an equivalent-input-disturbance (EID) estimator, improves system reliability by facilitating the rejection of unidentified disturbances. The method ensures precise path-tracking, increased system speed, and reduced data transfer and energy consumption. A periodic event-triggered mechanism based on state observers (PETM-SO) further optimizes resource utilization. The system, employing EID, PETM-SO, and AVs model-based robust H ∞ control, ensures stability via Lyapunov-Krasovskii theory with LMIs, achieving asymptotic stability against unknown disturbances. Simulation validates the efficacy and resilience of the proposed control approach.

Original language	English
Title of host publication	22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1000-1008
Number of pages	9
ISBN (Electronic)	9798331542726
DOIs	https://doi.org/10.1109/SSD64182.2025.10989941
State	Published - 2025
Event	22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025 - Monastir, Tunisia Duration: 17 Feb 2025 → 20 Feb 2025

Publication series

Name	22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025

Conference

Conference	22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025
Country/Territory	Tunisia
City	Monastir
Period	17/02/25 → 20/02/25

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

Keywords

Autonomous vehicles
Equivalent-input-disturbance estimator
Linear matrix inequality
Periodic event triggered mechanism
Robust Control

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Information Systems
Signal Processing
Safety, Risk, Reliability and Quality
Control and Optimization
Instrumentation

Access to Document

10.1109/SSD64182.2025.10989941

Cite this

Soliman, M., Abubakar, A. N., & Saif, A. W. A. (2025). Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking. In 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025 (pp. 1000-1008). (22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD64182.2025.10989941

Soliman, Mohamed ; Abubakar, Abdulrazaq Nafiu ; Saif, Abdul Wahid A. / Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking. 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025. Institute of Electrical and Electronics Engineers Inc., 2025. pp. 1000-1008 (22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025).

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title = "Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking",

abstract = "This research paper examines resilient H ∞ path-tracking control for networked autonomous vehicles (AVs) facing unforeseen disturbances, packet loss, and delays. A developed robust control technique, integrating an equivalent-input-disturbance (EID) estimator, improves system reliability by facilitating the rejection of unidentified disturbances. The method ensures precise path-tracking, increased system speed, and reduced data transfer and energy consumption. A periodic event-triggered mechanism based on state observers (PETM-SO) further optimizes resource utilization. The system, employing EID, PETM-SO, and AVs model-based robust H ∞ control, ensures stability via Lyapunov-Krasovskii theory with LMIs, achieving asymptotic stability against unknown disturbances. Simulation validates the efficacy and resilience of the proposed control approach.",

keywords = "Autonomous vehicles, Equivalent-input-disturbance estimator, Linear matrix inequality, Periodic event triggered mechanism, Robust Control",

author = "Mohamed Soliman and Abubakar, \{Abdulrazaq Nafiu\} and Saif, \{Abdul Wahid A.\}",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025 ; Conference date: 17-02-2025 Through 20-02-2025",

year = "2025",

doi = "10.1109/SSD64182.2025.10989941",

language = "English",

series = "22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025",

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Soliman, M, Abubakar, AN & Saif, AWA 2025, Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking. in 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025. 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025, Institute of Electrical and Electronics Engineers Inc., pp. 1000-1008, 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025, Monastir, Tunisia, 17/02/25. https://doi.org/10.1109/SSD64182.2025.10989941

Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking. / Soliman, Mohamed; Abubakar, Abdulrazaq Nafiu; Saif, Abdul Wahid A.
22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025. Institute of Electrical and Electronics Engineers Inc., 2025. p. 1000-1008 (22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking

AU - Soliman, Mohamed

AU - Abubakar, Abdulrazaq Nafiu

AU - Saif, Abdul Wahid A.

PY - 2025

Y1 - 2025

N2 - This research paper examines resilient H ∞ path-tracking control for networked autonomous vehicles (AVs) facing unforeseen disturbances, packet loss, and delays. A developed robust control technique, integrating an equivalent-input-disturbance (EID) estimator, improves system reliability by facilitating the rejection of unidentified disturbances. The method ensures precise path-tracking, increased system speed, and reduced data transfer and energy consumption. A periodic event-triggered mechanism based on state observers (PETM-SO) further optimizes resource utilization. The system, employing EID, PETM-SO, and AVs model-based robust H ∞ control, ensures stability via Lyapunov-Krasovskii theory with LMIs, achieving asymptotic stability against unknown disturbances. Simulation validates the efficacy and resilience of the proposed control approach.

AB - This research paper examines resilient H ∞ path-tracking control for networked autonomous vehicles (AVs) facing unforeseen disturbances, packet loss, and delays. A developed robust control technique, integrating an equivalent-input-disturbance (EID) estimator, improves system reliability by facilitating the rejection of unidentified disturbances. The method ensures precise path-tracking, increased system speed, and reduced data transfer and energy consumption. A periodic event-triggered mechanism based on state observers (PETM-SO) further optimizes resource utilization. The system, employing EID, PETM-SO, and AVs model-based robust H ∞ control, ensures stability via Lyapunov-Krasovskii theory with LMIs, achieving asymptotic stability against unknown disturbances. Simulation validates the efficacy and resilience of the proposed control approach.

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KW - Equivalent-input-disturbance estimator

KW - Linear matrix inequality

KW - Periodic event triggered mechanism

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M3 - Conference contribution

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BT - 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025

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Y2 - 17 February 2025 through 20 February 2025

ER -

Soliman M, Abubakar AN, Saif AWA. Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking. In 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025. Institute of Electrical and Electronics Engineers Inc. 2025. p. 1000-1008. (22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025). doi: 10.1109/SSD64182.2025.10989941

Robust H ∞ Control Based on EID Estimator and PETM for Network-Based Autonomous Vehicles' Path Tracking

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this