Adaptive Finite-Time Trajectory Tracking Control of Autonomous Vehicles That Experience Disturbances and Actuator Saturation

被引：9

作者：

Gao, Hongbo ^{[1
]}

Kan, Zhen ^{[2
]}

Chen, Fei ^{[3
]}

Hao, Zhengyuan ^{[4
]}

He, Xi ^{[4
]}

Su, Hang ^{[5
]}

Li, Keqiang ^{[6
]}

机构：

[1] Univ Sci & Technol China, Sch Informat Sci & Technol, Hefei 230026, Peoples R China

[2] Univ Sci & Technol China, Dept Automat, Hefei 230026, Peoples R China

[3] Chinese Univ Hong Kong, T Stone Robot Inst, Dept Mech & Automat Engn, Hong Kong 999077, Peoples R China

[4] Univ Sci & Technol China, Hefei 230026, Peoples R China

[5] Politecn Milan, I-20133 Milan, Italy

[6] Tsinghua Univ, Key Lab Automot Safety & Energy, Automot Engn, Beijing 100084, Peoples R China

来源：

IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE | 2022年 / 14卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Vehicle dynamics; Actuators; Kinematics; Convergence; Fuzzy logic; Trajectory tracking; Trajectory; SLIDING MODE CONTROL; MOBILE ROBOTS; SYSTEMS; DESIGN; IMPLEMENTATION; MANIPULATORS;

D O I：

10.1109/MITS.2021.3080075

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This article presents a finite-time tracking control scheme for autonomous vehicles. Trajectory tracking is difficult to control due to dynamic couplings and various disturbances and uncertainties. To cope with a lumped disturbance, a fuzzy logic system is designed. In particular, a novel adaptive algorithm is constructed to adjust the gain online, and it works well even without the prior information of the lumped disturbance bounds. An auxiliary system with a simple structure is built to tackle the actuator saturation. Moreover, the proposed control method can guarantee finite-time error convergence, chattering elimination, and strong robustness. Experiment results are presented to show the effectiveness of the control schemes. © 2009-2012 IEEE.

引用

页码：80 / 91

页数：12

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