Motion Control of Autonomous Vehicles with Guaranteed Prescribed Performance

被引：8
|
作者：
Xia, Hongyang [1 ]
Chen, Jiqing [1 ]
Lan, Fengchong [1 ]
Liu, Zhaolin [1 ]
机构：
[1] South China Univ Technol, Sch Mech & Automot Engn, Wushan St 381, Guangzhou 510640, Guangdong, Peoples R China
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2020年 / 18卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Automated vehicle; guaranteed prescribed performance; motion control; path following; LATERAL CONTROL; SYSTEMS;
D O I：
10.1007/s12555-019-0442-5
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1510 / 1517
页数：8
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