RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Hu, Chuan; Gao, Hongbo; Guo, Jinghua; Taghavifar, Hamid; Qin, Yechen; Na, Jing; Wei, Chongfeng

doi:10.1109/tsmc.2019.2950468

Cited by 59 publications

(36 citation statements)

References 54 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In general, Standard Deviation of Lateral Position (SDLP) relative to the centre line of a lane is widely used as an assessment of driving performance of a vehicle in many AVs related research, as it could maintain a vehicle to stay on the centre line of the desired lane to keep the vehicle in a safe condition. 26 It is assumed that any increase or decrease of SDLP indicates the degradation of driving performance of a driverless vehicle. 27 However, drivers generally do not aim to drive along the centre line of the lane in the daily driving especially in corners, 28 instead, driving is a satisficing task.…”

Section: Introductionmentioning

confidence: 99%

RETRACTED: The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

A human-like trajectory could give a safe and comfortable feeling for the occupants in an autonomous vehicle especially in corners. The research of this paper focuses on planning a human-like trajectory along a section road on a test track using optimal control method that could reflect natural driving behaviour considering the sense of natural and comfortable for the passengers, which could improve the acceptability of driverless vehicles in the future. A mass point vehicle dynamic model is modelled in the curvilinear coordinate system, then an optimal trajectory is generated by using an optimal control method. The optimal control problem is formulated and then solved by using the Matlab tool GPOPS-II. Trials are carried out on a test track, and the tested data are collected and processed, then the trajectory data in different corners are obtained. Different TLCs calculations are derived and applied to different track sections. After that, the human driver’s trajectories and the optimal line are compared to see the correlation using TLC methods. The results show that the optimal trajectory shows a similar trend with human’s trajectories to some extent when driving through a corner although it is not so perfectly aligned with the tested trajectories, which could conform with people’s driving intuition and improve the occupants’ comfort when driving in a corner. This could improve the acceptability of AVs in the automotive market in the future. The driver tends to move to the outside of the lane gradually after passing the apex when driving in corners on the road with hard-lines on both sides.

show abstract

Section: Introductionmentioning

confidence: 99%

RETRACTED: The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

“…Based on the above analysis, it is obvious that even in extreme conditions, the dynamics stability should still be guaranteed. And it can be seen from equation (12) that the constraint of yaw rate is in inverse correlation to longitudinal velocity. The yaw rate limitation goes higher in a lower velocity.…”

Section: Basic Longitudinal Coordinating Mechanismmentioning

confidence: 99%

“…Many control schemes have been established for this issue, including proportion integral derivative (PID), 4 fuzzy control, 5,6 backstepping control, 7,8 model predictive control, [9][10][11] and robust control. [12][13][14] However, these researches are based on the vehicle with traditional powertrain, and the only control input for lateral path following is front wheel steering angle. Thus, the lack of controllable input restricts the capability of path-following control in some aggressive maneuvers, where the nonlinear dynamics in tires are going to play a dominant role.…”

Section: Introductionmentioning

confidence: 99%

Yaw rate tracking-based path-following control for four-wheel independent driving and four-wheel independent steering autonomous vehicles considering the coordination with dynamics stability

Liang

Zheng

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

The path-following problem for four-wheel independent driving and four-wheel independent steering electric autonomous vehicles is investigated in this paper. Owing to the over-actuated characters of four-wheel independent driving and four-wheel independent steering autonomous vehicles, a novel yaw rate tracking-based path-following controller is proposed. First, according to the kinematic relationships between vehicle and the reference path, the yaw rate generator is designed by linear matrix inequality theory, with the ability to minimize the disturbances caused by vehicle side slip and varying curvature of path. Considering that the path-following objective and dynamics stability are in conflict with each other in some extreme path-following conditions, a coordinating mechanism based on yaw rate prediction is proposed to satisfy the two conflicting objectives. Then, according to the desired yaw rate and longitudinal velocity, a hierarchical structure is introduced for motion control. The upper-level controller calculates the generalized tracking forces while the allocation layer optimally distributes the generalized forces to tires considering tire vertical load and adhesive utilization. Finally, simulation results indicate that the proposed method can achieve excellent path-following performances in different driving conditions, while both path-following objective and dynamics stability can be satisfied.

show abstract

“…The vectorized parameter updates can be performed based on previous gradients as in [37][38][39] throughout the following:…”

Section: Proposed Control Lawmentioning

confidence: 99%

“…This is in addition to the major drawback of SMC which is its failure to provide a nominal optimal performance for active suspension system because the efficiency of these robust control schemes for the seat suspension control can be reduced [21]. Fuzzy-neural network (FNN) systems have shown a great capacity to deal with modeling and control of the complex and nonlinear processes at a reasonably acceptable degree of accuracy by employing the universal approximation capacity [23,24]. The primary advantage of fuzzy Takagi-Sugeno based systems is the use of a set of local linear systems through the associated membership functions that can handle the nonlinear functions.…”

Section: Introductionmentioning

confidence: 99%

Commercial Vehicle-Based Robust Control of Seated Whole-Body Vibration Using Adaptive Indirect Type-2 Fuzzy Neural Network

Taghavifar

et al. 2020

IEEE Access

Self Cite

View full text Add to dashboard Cite

Drivers of commercial vehicles are invariably subject to chronic diseases such as back pain as a result of exposure to severe cabin excitations. In this paper, a six degrees of freedom (6-DOF) coupled human-body and seat suspension system is modeled in order to reduce the vibrations transmitted to the head, seat, and the relative seat and cabin floor displacement. The contributions of the present paper are: 1) two significant but inherently conflicting control objectives are employed, namely the seat acceleration and the relative displacement between seat and cabin floor to account for the effect of seat endstops, 2) A novel learning rate gradient descent based neural network approximator algorithm coupled to an adaptive indirect type-2 fuzzy neural network (T2FNN) controller to converge the controller to the ideal parameters of the uncertain model. 3) The controller model takes into account the seat suspension nonlinearities due to the nonlinear asymmetric piecewise damper and the cubic hardening of the suspension spring. The proposed controller employs the principle of type-2 fuzzy systems with interval membership function and unknown specifications. The effectiveness of the closed-loop system is validated regarding the uncertainties compared to observer-based sliding mode controller (SMC) and a high-fidelity virtual lab MSC.ADAMS-Simulink platform to validate the results in practical scenarios.

show abstract

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Abstract: This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

Cited by 59 publications

References 54 publications

RETRACTED: The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

RETRACTED: The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

Yaw rate tracking-based path-following control for four-wheel independent driving and four-wheel independent steering autonomous vehicles considering the coordination with dynamics stability

Commercial Vehicle-Based Robust Control of Seated Whole-Body Vibration Using Adaptive Indirect Type-2 Fuzzy Neural Network

Contact Info

Product

Resources

About