Robust controller design for trajectory tracking of autonomous vehicle

被引：1

作者：

Xueyun L. ^{[1
]}

Shuang L. ^{[2
]}

Ju Z. ^{[1
]}

机构：

[1] School of Vehicle Engineering, Hubei University of Automotive Technology, Shiyan

[2] School of College of Mechanical Engineering, Sichuan University, Chengdu

来源：

International Journal of Vehicle Performance | 2020年 / 6卷 / 04期

关键词：

Autonomous vehicle; Dual-loop weighted control; Fault tolerance; Lane changing; Lateral displacement; Robust controller; Stability; Trajectory tracking; Weighting coefficient; Yaw rate;

D O I：

10.1504/IJVP.2020.111406

中图分类号：

学科分类号：

摘要：

In order to improve the stability and fault tolerance of the control system of the autonomous vehicle in the middle and low speed lane changing, a dual loop weighted trajectory tracking robust control system is designed. Firstly, the lateral displacement transfer function and yaw angle transfer function are derived by combining the mathematical model of trajectory planning and vehicle motion, and the proportion integral differential (PID) control parameters are calculated by mathematical derivation and transfer function reduction. Then, the influence of weighting coefficient on system stability and its determination method are studied by simulation. The results show that the dual-loop weighted control is feasible and effective, and it could provide a good fault tolerance, good control ability, good tracking effect, and small lateral displacement error and yaw angular velocity error for lane changing conditions in the medium and low speed. Copyright © 2020 Inderscience Enterprises Ltd.

引用

页码：381 / 398

页数：17

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