Integrated robust controller for vehicle path following

Mashadi, Behrooz; Ahmadizadeh, Pouyan; Majidi, Majid; Mahmoodi-Kaleybar, Mehdi

doi:10.1007/s11044-014-9409-8

Cited by 54 publications

(28 citation statements)

References 10 publications

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“…Usually, these models are validated via driving simulators where the real driver is part of the system. Some potentials of integrated control are discussed in [131] and [39,40].…”

Section: Model Componentsmentioning

confidence: 99%

State-of-the-art and challenges of railway and road vehicle dynamics with multibody dynamics approaches

et al. 2020

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A review of the current use of multibody dynamics methods in the analysis of the dynamics of vehicles is given. Railway vehicle dynamics as well as road vehicle dynamics are considered, where for the latter the dynamics of cars and trucks and the dynamics of single-track vehicles, in particular motorcycles and bicycles, are reviewed. Commonalities and differences are shown, and open questions and challenges are given as directions for further research in this field.

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“…Usually, these models are validated via driving simulators where the real driver is part of the system. Some potentials of integrated control are discussed in [131] and [39,40].…”

Section: Model Componentsmentioning

confidence: 99%

State-of-the-art and challenges of railway and road vehicle dynamics with multibody dynamics approaches

et al. 2020

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“…The vehicle degrees of freedom are lateral velocity in direction v y and the yaw rate around the z axis. Governing equations of the bicycle model can be described as follows (Mashadi et al, 2014):…”

Section: Vehicle Dynamics Modelingmentioning

confidence: 99%

“…The path planning stage involves the search and computation of a collision-free path, taking into account the geometry of vehicle , its surroundings and obstacles, the vehicle kinematic constraints, and sometimes dynamics constraints as well as any other external constraints that may affect the planning of a path . The path tracking stage involves the actual navigation on the planned path considering the kinematic and dynamic constraints of the vehicle (Kim et al, 2011;Mashadi et al, 2014). The optimal path planning method is one of the several approaches in the path planning of autonomous vehicles.…”

Section: Introductionmentioning

confidence: 99%

Global optimal path planning of an autonomous vehicle for overtaking a moving obstacle

Mashadi

Majidi

2014

Lat. Am. j. solids struct.

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“…The least-path-tracking error thereby assures that the target vehicle navigates on the predefined path regardless of the road condition. 8 Hence, a control paradigm which offers an ideal lateral path-tracking control of AGV at different operating conditions is of utmost concern while the vehicle maneuvering stability is sustained. A satisfying path-tracking control of AGVs can be achieved by employing a combined longitudinal and lateral control platform based on the information of the vehicle current states and infrastructure condition.…”

Section: Introductionmentioning

confidence: 99%

A novel adaptive control approach for path tracking control of autonomous vehicles subject to uncertain dynamics

Mohammadzadeh

Taghavifar

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Autonomous ground vehicles are constantly exposed to matched/mismatched uncertainties and disturbances and different operating conditions. Consequently, robustness to resist the undesirable effect of changes in the nominal parameters of the vehicle is a significant provision for satisfactory path-tracking control of these vehicles. The accomplishment of lateral path-tracking control is an essential task expectable from autonomous ground vehicles, particularly during critical maneuvers, abrupt cornering, and lane changes at high speeds. This paper presents a new control approach based on immersion and invariance control theorem. The asymptotic stability of the proposed method is ensured and the adaptation laws for the parameters are derived based on the I&I stability theorem. The effectiveness of the proposed control method is confirmed for autonomous ground vehicles systems while making a double-lane-change at various forward speeds. The robustness of the proposed control method is evaluated under parametric uncertainties related to the autonomous ground vehicle and different road conditions. The obtained results suggest that the proposed control method holds the capacity to be applied effectively to the path-tracking task of autonomous ground vehicles under a broad range of operating conditions, parametric uncertainness, and external disturbances.

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Integrated robust controller for vehicle path following

Cited by 54 publications

References 10 publications

State-of-the-art and challenges of railway and road vehicle dynamics with multibody dynamics approaches

State-of-the-art and challenges of railway and road vehicle dynamics with multibody dynamics approaches

Global optimal path planning of an autonomous vehicle for overtaking a moving obstacle

A novel adaptive control approach for path tracking control of autonomous vehicles subject to uncertain dynamics

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