Virtual-Point-Based asymptotic tracking control of 4WS vehicles

Changfang Chen; Minglei Shu; Ruixia Liu

doi:10.1007/s12555-013-0441-x

Virtual-Point-Based asymptotic tracking control of 4WS vehicles

Changfang Chen, Minglei Shu, Ruixia Liu

College of Science and Engineering

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

This paper studies the lateral and longitudinal path tracking control of four-wheel steering vehicles. By the introduction of virtual points, a robust and adaptive path tracking control strategy is proposed to simultaneously counteract modeling uncertainties, unexpected disturbances, and coupling effects. An adaptive model-based feedforward adaptive term and the robust integral of the sign of the error (RISE) feedback term can be used to yield an asymptotic tracking result, which improve the tracking performance and reduce the control effort. The stability of closed-loop system is analyzed using a Lyapunov-based method. Simulation results are provided to demonstrate the performance of the proposed controller under different driving conditions.

Original language	English
Pages (from-to)	371-378
Number of pages	8
Journal	International Journal of Control, Automation and Systems
Volume	13
Issue number	2
DOIs	https://doi.org/10.1007/s12555-013-0441-x
Publication status	Published - 1 Apr 2015

Keywords

Adaptive control
asymptotic stable
path tracking
robust integral of the sign of the error (RISE)
virtual point

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AB - This paper studies the lateral and longitudinal path tracking control of four-wheel steering vehicles. By the introduction of virtual points, a robust and adaptive path tracking control strategy is proposed to simultaneously counteract modeling uncertainties, unexpected disturbances, and coupling effects. An adaptive model-based feedforward adaptive term and the robust integral of the sign of the error (RISE) feedback term can be used to yield an asymptotic tracking result, which improve the tracking performance and reduce the control effort. The stability of closed-loop system is analyzed using a Lyapunov-based method. Simulation results are provided to demonstrate the performance of the proposed controller under different driving conditions.

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SN - 2005-4092

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Virtual-Point-Based asymptotic tracking control of 4WS vehicles

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Keywords

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