Regular Papers

International Journal of Control, Automation and Systems 2015; 13(2): 371-378

Published online February 2, 2015

https://doi.org/10.1007/s12555-013-0441-x

© The International Journal of Control, Automation, and Systems

Virtual-point-based Asymptotic Tracking Control of 4WS Vehicles

Changfang Chen*, Minglei Shu, and Ruixia Liu

Shandong Computer Science Center

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.

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

Article

Regular Papers

International Journal of Control, Automation and Systems 2015; 13(2): 371-378

Published online April 1, 2015 https://doi.org/10.1007/s12555-013-0441-x

Copyright © The International Journal of Control, Automation, and Systems.

Virtual-point-based Asymptotic Tracking Control of 4WS Vehicles

Changfang Chen*, Minglei Shu, and Ruixia Liu

Shandong Computer Science Center

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.

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

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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