Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function

Khan, Rameez; Malik, Fahad Mumtaz; Mazhar, Naveed; Raza, Abid; Azim, Raja Amer; Ullah, Hameed

doi:10.1109/access.2021.3068949

Cited by 17 publications

(12 citation statements)

References 37 publications

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“…where k 1 &k 2 ø 0. Now, choosing the value of k 1 and k 2 , and using the assumptions A1 and A2, the transformed closed-loop system (18) and ( 27) is exponentially stable, that is,…”

Section: Proof Of Lemmamentioning

confidence: 99%

“…And this method has been applied to various applications. Widyotriatmo and Hong 17 and Khan et al 18 have used the SBLF-based backstepping for the development of lateral control of an autonomous vehicle; however, these methods are robust and able to handle the symmetric constraint but it is not possible to remain the output within asymmetric constraint. Very few papers based on ABLF backstepping 19 are used for land vehicle applications, and this method has also been applied to many applications, for example, in the marine vessel, 20 and Inceptor missile.…”

Section: Introductionmentioning

confidence: 99%

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Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Parkash

Swarup

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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In a surface vehicle ride, the passenger’s comfort is desirable, ensuring safety under various tight constraints. To consider this requirement, this article has proposed a lateral control for autonomous vehicle considering the lateral offset error constraints. A reduced-order dynamics of the vehicle has been considered for improving and easy implementation of backstepping. A nonlinear control has been developed by utilizing the Time-varying Asymmetric Barrier Lyapunov Function via the Active Disturbance Rejection Control (ADRC) approach. The Extended State Observer, a component of applied ADRC, estimates all unknown system states as well as the unknown disturbance. The desired trajectories (smooth and non-smooth) based on the yaw rate profile have been synthesized to test the performance of the vehicle. Simulation results are presented to show the effectiveness of the proposed closed-loop control strategy. The vehicle performance has been compared using the proposed method, the conventional Quadratic Lyapunov Function and Symmetric Barrier Lyapunov Function based control. The proposed control provides a smoother control signal, small tracking error and robustness in presence of hard road constraints for smooth/non-smooth vehicle motion.

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“…where k 1 &k 2 ø 0. Now, choosing the value of k 1 and k 2 , and using the assumptions A1 and A2, the transformed closed-loop system (18) and ( 27) is exponentially stable, that is,…”

Section: Proof Of Lemmamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Parkash

Swarup

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…A four-wheeled vehicle with front-wheel steering is presented in this paper. Based on our previous paper the vehicle lateral dynamics are presented below [13], [59].…”

Section: Two-time Scale System Modelmentioning

confidence: 99%

“…In our recent article [59], SMC with BLF(BSMC) is implemented for lateral control of a self-driving car using a two-timescale approach. However, the non-standard control approach was used in that case.…”

Section: Introductionmentioning

confidence: 99%

Fixed Settling Time Control for Self-Driving Car: Two-Timescales Approach

et al. 2022

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This article involves the design of a novel path tracking control technique for the self-driving car. Fixed settling time sliding mode control (FSTSMC) with barrier Lyapunov function is implemented to deal with the non-linear lateral dynamics and to ensure stable standard double-lane-change (DLC) maneuver of self-driving cars in the presence of unknown lateral tire forces and parametric uncertainties. A two-time scale-based approach is employed to deal with the slow and fast dynamics of the car separately. The proposed control scheme efficacy is investigated using simulations based on CarSim and Simulink. The simulation results validate the path-tracking ability of the proposed controller for self-driving cars while accomplishing the stable double-lane-change maneuver at various forward speeds. INDEX TERMSAutonomous vehicles, barrier function, CarSim, double-lane-change (DLC), fixed settling time sliding mode control (FSTSMC), lateral dynamics, self-driving car.

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“…This requires no controllability check because the controllability is guaranteed in strict-feedback form. The under-actuation problem can be solved by multi-time scales approach (Khan et al, 2021), hierarchical control method (Shah et al, 2021) or by using nested control loops (Mazhar et al, 2020). In this paper, the system is transformed to a strictfeedback structure and then nested control loops are used to handle the under-actuation problem.…”

Section: Introductionmentioning

confidence: 99%

Full-state modeling and nonlinear control of balloon supported unmanned aerial vehicle

Mazhar

Malik

Azim

et al. 2021

Self Cite

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Purpose The purpose of this study is to provide the full-state mathematical model and devise a nonlinear controller for a balloon-supported unmanned aerial vehicle (BUAV). Design/methodology/approach Newtonian mechanics is used to establish the nonlinear mathematical model of the proposed vehicle assembly which incorporates the dynamics of both balloon and quadrotor UAV. A controllable form of the nine degrees of freedom model is derived. Backstepping control is designed for the proposed model and simulations are performed to assess the tracking performance of the proposed control. Findings The results show that the proposed methodology works well for smooth trajectories in presence of wind gusts. Moreover, the final mathematical model is affine and various nonlinear control techniques can be used in the future for improved system performance. Originality/value Multi-rotor unmanned aerial vehicles (MUAVs) are equipped with controllers but are constrained by smaller flight endurance and payload carrying capability. On the contrary, lighter than air (LTA) aerial vehicles have longer flight times but have poor control performance for outdoor operations. One of the solutions to achieve better flight endurance and payload carrying capability is to augment the LTA balloon to MUAV. The novelty of this research lies in full-order mathematical modeling along with transformation to controllable form for the BUAV assembly.

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Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function

Cited by 17 publications

References 37 publications

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Fixed Settling Time Control for Self-Driving Car: Two-Timescales Approach

Full-state modeling and nonlinear control of balloon supported unmanned aerial vehicle

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