Trajectory-tracking controller for vehicles on inclined road based on Udwadia – Kalaba equation

Li, Xingyu; Gong, Xinle; Huang, Jin; Chen, Ye‐Hwa

doi:10.1016/j.geits.2022.100021

Cited by 6 publications

(2 citation statements)

References 27 publications

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“…Research has shown that various types of control problems can be formulated in the form of Equation 8, including trajectory following, stabilization, and optimality (28,29).…”

Section: Udwadia-kalaba Approachmentioning

confidence: 99%

Human–Machine Shared Steering Control Under High-Speed Emergency Obstacle Avoidance Scenarios

Wang,

Gong,

et al. 2023

Transportation Research Record: Journal of the Transportation R

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The allocation of controlling and driving authority is an important and difficult aspect of human–machine shared steering control (SSC). This paper addresses the SSC problem in high-speed emergency obstacle avoidance scenarios. A parallel SSC framework containing a dynamic driving authority allocation model and a path tracking controller is developed, where the human driver and controller can control the vehicle simultaneously. First, fuzzy logic is adopted in the SSC framework to actively adjust the driving authority between the human driver and the controller. The driver steering state and path tracking error are considered to reduce the negative impact of a driver’s mis-operation and weaken any human–machine conflict. Subsequently, the path tracking controller in the proposed SSC system is designed based on a nonlinear vehicle lateral model to improve the accuracy of the controller, particularly when the vehicle is facing large lateral acceleration. To address the nonlinear control problem, the Udwadia–Kalaba approach is employed and the Lyapunov stability of the controller is proved. Finally, the effectiveness of the proposed SSC system is proved through simulation results, which show that the vehicle has excellent path tracking performance in high-speed obstacle avoidance scenarios. In addition, the system can resolve the human–machine conflict problem.

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“…Research has shown that various types of control problems can be formulated in the form of Equation 8, including trajectory following, stabilization, and optimality (28,29).…”

Section: Udwadia-kalaba Approachmentioning

confidence: 99%

Human–Machine Shared Steering Control Under High-Speed Emergency Obstacle Avoidance Scenarios

Wang,

Gong,

et al. 2023

Transportation Research Record: Journal of the Transportation R

Self Cite

View full text Add to dashboard Cite

show abstract

“…Since this method is based on the potential field, obtaining a solution in complex road geometries is challenging. To consider the inclined angle of the road, a Udwadia-Kalaba equation-based trajectory tracking controller was proposed to determine the required lateral tire force to track the reference path [32]. In this case, an accurate tire model for converting the lateral force into a steering angle or a refraction angle is required.…”

Section: Introductionmentioning

confidence: 99%

A Tube-Based Model Predictive Control for Path Tracking of Autonomous Articulated Vehicle

Lee,

Jeong

2024

Actuators

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This paper presents tube-based Model Predictive Control (MPC) for the path and velocity tracking of an autonomous articulated vehicle. The target platform of this study is an autonomous articulated vehicle with a non-steerable axle. Consequently, the articulation angle and wheel torque input are determined by the tube-based MPC. The proposed MPC aims to achieve two objectives: minimizing path tracking error and enhancing robustness to disturbances. Furthermore, the lateral stability of the autonomous articulated vehicle is considered to reflect its dynamic characteristics. The vehicle model for the MPC is formulated using local linearization to minimize modeling errors. The reference state is determined using a virtual controller based on the linear quadratic regulator to provide the optimal reference for the MPC solver. The proposed algorithm was evaluated through a simulation study with base algorithms under noise injection into the sensor signal. Simulation results demonstrate that the proposed algorithm achieved the smallest path tracking error, compared to the base algorithms. Additionally, the proposed algorithm demonstrated robustness to external noise for multiple signals.

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Advancements on unmanned vehicles in the transportation system

Zhang¹

2023

Green Energy and Intelligent Transportation

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Trajectory-tracking controller for vehicles on inclined road based on Udwadia – Kalaba equation

Cited by 6 publications

References 27 publications

Human–Machine Shared Steering Control Under High-Speed Emergency Obstacle Avoidance Scenarios

Human–Machine Shared Steering Control Under High-Speed Emergency Obstacle Avoidance Scenarios

A Tube-Based Model Predictive Control for Path Tracking of Autonomous Articulated Vehicle

Advancements on unmanned vehicles in the transportation system

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