本文介紹了經由無線網路的多目標H_2 /H_∞自動車導引控制，可以同時最佳化H_2和H_∞。在現實中，由於道路狀況的變化，GPS的定位偏差或者路徑被阻擋，自動車導引系統總是遭受到連續和不連續的擾動。本研究提出了對於非線性自動車系統的多目標 H_2 /H_∞基於觀測器的導引控制設計，該系統受到網路引起的延遲，封包遺失，連續布朗雜訊和不連續卜瓦松雜訊的影響。其中，提出了一種等效的間接方法來解決複雜的非線性隨機多目標 H_2 /H_∞基於觀測器的導引控制設計問題。為了避免求解多目標 H_2 /H_∞控制問題的Hamilton-Jacobin不等式，採用Takagi-Sugeno模糊模型逼近非線性隨機自動車導引系統。因此，多目標 H_2 /H_∞基於觀測器的導引控制設計問題可以轉換為線性矩陣不等式的多目標問題。由於線性矩陣不等式多目標問題不易於有效求解Pareto最優解，因此應用了多目標進化演算法，用於解決多目標H_2 /H_∞基於觀測器的自動車導引控制問題。最後，給出了智能城市街道自動車輛導引控制的仿真實例，驗證了多目標 H_2 /H_∞基於觀測器的自動車導引控制設計的設計性能。

This study introduces a multiobjective optimal (MO) H_2/H_∞ observer-based guidance control design to achieve the optimal H_2 quadratic guidance and optimal H_∞ robust guidance simultaneous in the nonlinear stochastic autonomous ground vehicle guidance control via wireless network. First, an autonomous ground vehicle guidance system always suffers from continuous and discontinuous fluctuations in the practical perspective due to the change of the road condition, the positioning deviation of the GPS, or something to suddenly keep off. This study proposes a MO H_2/H_∞ observer-based guidance control for the nonlinear autonomous ground vehicle guidance system suffered from network-induced delays, packet dropouts, continuous Wiener noise, and discontinuous Poisson jump noise. An equivalent indirect method is proposed to solve the complex nonlinear stochastic MO H_2/H_∞ observer-based guidance control design problem. In order to avoid solving an Hamilton-Jacobin inequalities (HJIs)-constrained multiobjective optimal problem (MOP) for MO H_2/H_∞ control problem, the Takagi-Sugeno (T-S) fuzzy model is employed to approximate the nonlinear stochastic autonomous ground vehicle guidance system. So that, the HJIs-constrained MOP for MO H_2/H_∞ observer-based guidance control problem can be transformed to a linear matrix inequalities (LMIs)-constrained MOP. Since the LMIs-constrained MOP is not easy to efficiently solve for Pareto optimal solutions, an LMIs-constrained multiobjective evolutionary algorithm (MOEA) is also proposed to solve the MO H_2/H_∞ observer-based guidance control problem of autonomous ground vehicle via wireless network. Finally, a simulation example of autonomous ground vehicle guidance control at the streets in the smart city is given to illustrate the design procedure and performance of the proposed MO H_2/H_∞ autonomous ground vehicle observer-based guidance control design.

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