Path tracking control of vehicles based on Lyapunov approach

Zhang, J.R.; Xu, Shengyuan; Rachid, A.

doi:10.1109/acc.2002.1023952

Cited by 7 publications

(4 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…1. Consider the dynamics of vehicle [2], [9], [16], [18], the dynamic model of four-wheel and front-steering vehicle could be described as: 2 2 cos( ) sin( ) …”

Section: Mathematical Model Of Vehiclementioning

confidence: 99%

Model following control design based on sum-of-squares programming

Chen

Juang

Tang

2011

Proceedings 2011 International Conference on System Science and Engineering

View full text Add to dashboard Cite

In this paper, a novel model following method based on sum of squares technique is proposed. The explicit model following (EMF) method had been developed more than three decades. However, the linearized mechanism and choice of LQ weighting matrices lead the controller into local optimum. Based on the model following schematism, a Lyapunov direct method is employed to stabilize the physical system instead of LQ regulation in our proposed control strategy. Moreover, the sum of squares programming (SOSP) optimization method is capable of optimal Lyapunov function assessment. The benefit of our proposed nonlinear controller is not merely designed systematical, but also stable globally. Finally, a four-wheel and front steering mechanism is employed to demonstrate the performance of our proposed control strategy.Keywords-Model following, Sum of squares programming, Lyapunov method, Vehicle dynaimcs.

show abstract

“…1. Consider the dynamics of vehicle [2], [9], [16], [18], the dynamic model of four-wheel and front-steering vehicle could be described as: 2 2 cos( ) sin( ) …”

Section: Mathematical Model Of Vehiclementioning

confidence: 99%

Model following control design based on sum-of-squares programming

Chen

Juang

Tang

2011

Proceedings 2011 International Conference on System Science and Engineering

View full text Add to dashboard Cite

show abstract

“…Several approaches have been developed to solve this problem through direct control of the robot's dynamics. In some of these approaches [1,2], nonlinear controllers are derived based on the Lyapunov approach.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode fuzzy control of a skid steer mobile robot for path following

Nazari

Naraghi

2008

2008 10th International Conference on Control, Automation, Robotics and Vision

View full text Add to dashboard Cite

In this paper, robust sliding mode fuzzy logic control of a four-wheel differentially driven skid steer mobile robot, for path following is considered. This approach combines basic principles of Sliding Mode Control (SMC) with Fuzzy Logic Control (FLC). The path comprises a sequence of discrete waypoints. A novel approach in path extraction interpolates waypoints by means of quadratic curve to generate a continuous reference path. The positional data of waypoints are obtained using a vision system mounted on the mobile robot. Experimental study has been carried out to evaluate the performance of the proposed controller and to compare its performance with a conventional fuzzy logic controller performance. The experimental results show that the proposed controller has achieved superior performance in the presence of model uncertainties and external disturbances with minimum reaching time, minimum distance error, and smooth control actions.

show abstract

“…The high-level planner's function is planning a path either offline or online, depending on the environment changes. The pathfollowing problem is highly non-linear, and several approaches have been developed to solve the problem of path tracking through direct control of the robot's dynamics (Caracciolo et al, 1999;DeSantis et al, 2002;Koh and Cho, 1995;Xu and Yang, 2001;Zhang et al, 2001;Zhang et al, 2002).…”

Section: Introductionmentioning

confidence: 99%

Integration of a novel path planning and control technique in a navigation strategy

Maalouf¹,

Saad²,

Saliah³

et al. 2006

IJMIC

View full text Add to dashboard Cite

The purpose of the work presented in this paper is to present a novel optimisation approach for path planning based on dynamic programming and to integrate it into a proposed navigation strategy. The proposed navigation strategy is a finite-state machine that integrates three navigation aspects. This strategy falls in the category of hybrid architectures. The two aspects other than path planning discussed in this paper are path tracking and obstacle avoidance. Other aspects and behaviours can easily be added. For path tracking, a fuzzy control technique is suggested. The fuzzy controller is used to drive the robot through a set of waypoints leading to the destination. The curvature velocity method is proposed for obstacle avoidance. The testing was conducted on a P3-AT all-terrain mobile robot equipped with encoders, a gyroscope and sonar sensors for localisation and environment perception. The test results validate the theoretical analysis.

show abstract

Path tracking control of vehicles based on Lyapunov approach

Cited by 7 publications

References 20 publications

Model following control design based on sum-of-squares programming

Model following control design based on sum-of-squares programming

Sliding mode fuzzy control of a skid steer mobile robot for path following

Integration of a novel path planning and control technique in a navigation strategy

Contact Info

Product

Resources

About