Adaptive Asymmetric Time-Varying Integral Barrier Lyapunov Control-based Trajectory Tracking of Autonomous Vehicles
Main Article Content
Abstract
This paper investigates the lane following and changing maneuvers of autonomous vehicles in the presence of unknown disturbances, taking into account the dynamic system states and input constraints. The integrated longitudinal-lateral and yaw rate dynamics of the vehicle are simultaneously considered to improve the tracking accuracy and system stability when navigating under critical conditions. Then, a novel adaptive asymmetric time-varying integral barrier Lyapunov control and dynamic surface control scheme are developed to design the active front steering controller, longitudinal controller, and direct yaw moment control controller, which is capable of constraining the system states and control signals within the predefined boundary. In addition, the radius basis function neural network (RBFNN) is employed to estimate the lumped disturbances caused by the parametric uncertainties, external disturbances, and unmodeled dynamics, and the command filter system is used to avoid the explosion of terms phenomenon. Due to the fast and accurate torque response characteristics of the in-wheel motors, the optimization-based method is then implemented to effectively allocate the driving/braking torque to each in-wheel motor so as to improve vehicle performance. The stability of the closed-loop system is comprehensively demonstrated by means of the Lyapunov theory. Finally, the quantitative and qualitative comparisons in different driving scenarios using the Carim-Simulink joint environment are carried out to illustrate the effectiveness and validation of the proposed method.
Keywords
Autonomous vehicle, Asymmetric time-varying integral barrier, Command filer system
Article Details
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References
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[5] Y. Wang, S. Shi, S. Gao, Y. Xu, P. Wang, Active steering and driving/braking coupled control based on flatness theory and a novel reference calculation method, IEEE Access, vol.7, pp.180661-180670, https://doi.org/10.1109/ACCESS.2019.2959941
[6] N. Tork, A. Amirkhani, and S. B. Shokouhi, An adaptive modified neural lateral-longitudinal control system for path following of autonomous vehicles, Engineering Science and Technology, an International Journal, vol. 24, no. 1, pp. 126-137, 2021, https://doi.org/10.1016/j.jestch.2020.12.004
[7] H. Sazgar, S. Azadi, R. Kazemi, A. K. Khalaji, Integrated longitudinal and lateral guidance of vehicles in critical high speed manoeuvres, Proc. of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, vol. 233, no. 4, pp. 994-1013, 2019, https://doi.org/10.1177/1464419319847916
[8] H. Pang, R. Yao, P. Wang, and Z. Xu, Adaptive backstepping robust tracking control for stabilizing lateral dynamics of electric vehicles with uncertain parameters and external disturbances, Control Engineering Practice, vol. 110, p. 104781, 2021, https://doi.org/10.1016/j.conengprac.2021.104781
[9] X. Jin, Z. Yu, G. Yin, and J. Wang, Improving vehicle handling stability based on combined AFS and DYC system via robust Takagi-Sugeno fuzzy control, IEEE Transactions on Intelligent Transportation Systems, vol. 19, no. 8, pp. 2696-2707, 2017, https://doi.org/10.1109/TITS.2017.2754140
[10] J. Liu, L. Gao, J. Zhang, and F. Yan, Super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 235, no. 1, pp. 43-54, 2021, https://doi.org/10.1177/0954407020948298
[11] H. Wang, B. Liu, X. Ping, and Q. An, Path tracking control for autonomous vehicles based on an improved MPC, IEEE Access, vol. 7, pp. 161064-161073, 2019, https://doi.org/10.1109/ACCESS.2019.2944894
[12] H. Wu, Z. Si, and Z. Li, Trajectory tracking control for four-wheel independent drive intelligent vehicle based on model predictive control, IEEE Access, vol. 8, pp. 73071-73081, 2020, https://doi.org/10.1109/ACCESS.2020.2987812
[13] A.-T. Nguyen, B.-M. Nguyen, T. Vo-Duy, and M. C. Ta, Steering vector control for lateral force distribution of electric vehicles, in 2022 IEEE Vehicle Power and Propulsion Conference (VPPC), 2022, pp. 1-6: IEEE, https://doi.org/10.1109/VPPC55846.2022.10003321
[14] K. Akka and F. Khaber, Optimal fuzzy tracking control with obstacles avoidance for a mobile robot based on Takagi-Sugeno fuzzy model, Transactions of the Institute of Measurement and Control, vol. 41, no. 10, pp. 2772-2781, 2019, https://doi.org/10.1177/0142331218811462
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