期刊
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
卷 12, 期 4, 页码 1343-1351出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2011.2158646
关键词
Actuator failures; autonomous vehicle; fault tolerant; path tracking; robust adaptive control
资金
- National Natural Science Foundation of China [60974052]
- Program for Changjiang Scholars and Innovative Research Team in University [IRT0949]
- Beijing Jiaotong University [RCS2008ZT002, 2009JBZ001, 2009RC008]
This paper studies the lateral and longitudinal path tracking control of four-wheel steering autonomous vehicles. A robust and adaptive fault-tolerant tracking control strategy is proposed to simultaneously counteract modeling uncertainties, unexpected disturbances, coupling effects, as well as actuator failures. By introducing the virtual points along the longitudinal centerline of the vehicle and utilizing a state transformation, a special feature of the control gain matrix is revealed, which allows for the development of structurally simple and computationally inexpensive robust adaptive and fault-tolerant control algorithms. The closed-loop stability issues of the control scheme are analyzed using a Lyapunov-based method. A nonlinear dynamic model of a passenger vehicle is developed to simulate the performance of control design. The controller is tested and validated via computer simulations in the presence of parametric uncertainties and varying driving conditions.
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