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Motion Control of Autonomous Vehicles with Guaranteed Prescribed Performance

Hongyang Xia, Jiqing Chen, Fengchong Lan, and Zhaolin Liu*
International Journal of Control, Automation, and Systems, vol. 18, no. 6, pp.1510-1517, 2020

Abstract : In this paper, a novel motion control scheme with guaranteed prescribed performance is proposed for autonomous vehicles with consideration of couplings between lateral and longitudinal motions. Firstly, a prescribed performance transformation function is constructed to equivalently release the output error constraints. Then, a coordinated controller is designed to complete lateral and longitudinal motion control tasks simultaneously based on sliding-mode control. The designed coordinated controller can guarantee predefined trajectory tracking performance (e.g., minimum speed of convergence, maximum steady state error and overshoot), in presence of strong-coupled characteristics, model uncertainties and external disturbance. Finally, simulation results under different boundary constraints further validate the feasibility and good robustness of the controller.

Keyword : Automated vehicle, guaranteed prescribed performance, motion control, path following.

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