A Novel Enhanced Data-Driven Model-Free Adaptive Control Scheme for Path Tracking of Autonomous Vehicles

被引：5
作者：
Liu, Shida [1 ]
Lin, Guang [1 ,2 ]
Ji, Honghai [1 ]
Jin, Shangtai [3 ]
Hou, Zhongsheng [4 ]
机构：
[1] North China Univ Technol, Sch Elect & Control Engn, Beijing 100144, Peoples R China
[2] Jiangsu Ind Innovat Ctr Intelligent Equipment Co L, Liyang 213300, Peoples R China
[3] Beijing Jiaotong Univ, Sch Elect & Informat Engn, Beijing 100044, Peoples R China
[4] Qingdao Univ, Sch Automat, Qingdao 266071, Peoples R China
来源：
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2025年 / 26卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Vehicle dynamics; Autonomous vehicles; Data models; Delay effects; Delays; Adaptation models; Tracking; Uncertainty; Gravity; Adaptive control; Autonomous vehicle; path tracking; time delay system; data-driven control; model-free adaptive control; LATERAL CONTROL; NETWORK;
D O I：
10.1109/TITS.2024.3487299
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
In this paper, an enhanced model-free adaptive control algorithm considering time delay is proposed for the path tracking problem of autonomous vehicles. First, a path tracking mechanism based on the preview-deviation-yaw angle is proposed, which transforms the path tracking problem into a control problem of the preview-deviation-yaw angle. A novel partial form dynamic linearization (PFDL) technique is then employed to transform the vehicle dynamic models into a discrete-time data model with a time-varying pseudogradient (PG), and the proposed controller (PFDL-EMFAC) is designed based on this data model. Moreover, a compensation mechanism is designed for the system time delay by combining the Smith predictor and tracking differentiator (TD). Notably, implementing the controller does not involve any model information; it is a purely data-driven control method. Furthermore, the convergence of the proposed controller is proven via mathematical analysis. The validity of the proposed controller was validated through CarSim-MATLAB cosimulation, and its applicability was verified via the Ankai HFF6668GEV1 autonomous driving platform on a test road in Hefei, China.
引用
收藏
页码：579 / 590
页数：12
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