Velocity-based robust fault tolerant automatic steering control of autonomous ground vehicles via adaptive event triggered network communication

Li, Wenfeng; Xie, Zhengchao; Zhao, Jing; Wong, Pak Kin

doi:10.1016/j.ymssp.2020.106798

Cited by 45 publications

(18 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The DTP in (27b) has yet been widely employed to address various event-triggered control and estimation problems under an ETT strategy; see, e.g., [86] on eventtriggered stabilization of a class of networked Takagi-Sugeno fuzzy systems, [87] on decentralized event-triggered filtering of a class of interconnected Takagi-Sugeno fuzzy systems, [84,92] on event-triggered control of vehicle active suspension control systems, and [85] on automatic steering control of autonomous ground vehicles. Nevertheless, as noted in Section 3.2, when the continuous DTP is embedded in an ETT-based dynamic event trigger, the triggering law therein may still need to perform continuously rather than periodically, which represents a clear limitation of such a dynamic event trigger.…”

Section: H∞mentioning

confidence: 99%

Dynamic Event-triggered Control and Estimation: A Survey

Han

Zhang

et al. 2021

Int. J. Autom. Comput.

128

View full text Add to dashboard Cite

The efficient utilization of computation and communication resources became a critical design issue in a wide range of networked systems due to the finite computation and processing capabilities of system components (e.g., sensor, controller) and shared network bandwidth. Event-triggered mechanisms (ETMs) are regarded as a major paradigm shift in resource-constrained applications compared to the classical time-triggered mechanisms, which allows a trade-off to be achieved between desired control/estimation performance and improved resource efficiency. In recent years, dynamic event-triggered mechanisms (DETMs) are emerging as a promising enabler to fulfill more resource-efficient and flexible design requirements. This paper provides a comprehensive review of the latest developments in dynamic event-triggered control and estimation for networked systems. Firstly, a unified event-triggered control and estimation framework is established, which empowers several fundamental issues associated with the construction and implementation of the desired ETM and controller/estimator to be systematically investigated. Secondly, the motivations of DETMs and their main features and benefits are outlined. Then, two typical classes of DETMs based on auxiliary dynamic variables (ADVs) and dynamic threshold parameters (DTPs) are elaborated. In addition, the main techniques of constructing ADVs and DTPs are classified, and their corresponding analysis and design methods are discussed. Furthermore, three application examples are provided to evaluate different ETMs and verify how and under what conditions DETMs are superior to their static and periodic counterparts. Finally, several challenging issues are envisioned to direct the future research.

show abstract

Section: H∞mentioning

confidence: 99%

Dynamic Event-triggered Control and Estimation: A Survey

Han

Zhang

et al. 2021

Int. J. Autom. Comput.

128

View full text Add to dashboard Cite

show abstract

“…As previously mentioned, the steady-state solution to the single-track model can be found in (7) and (8). Substituting (9) into the control system represented in (6), the following system is generated as .…”

Section: (9)mentioning

confidence: 99%

“…Besides, it should also maintain driving safety, lateral stability, and comfort simultaneously [3]. However, the path following control is very challenging due to high system nonlinearity, perturbations, and influence on other vehicle performances [4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

“…For the evaluation of path-following control performance, most of the researches [7,8,12,13] only took the mean absolute error (MAE) of lateral deviation and heading angle with respect to the desired trajectory. Honestly, the evaluation indexes are probably not fair because the control effort and the product of error and time are not taken into account.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Backstepping Super-Twisting Sliding Mode Control for Autonomous Vehicle Path Following

Ao¹,

Huang²,

Wong³

et al. 2021

IEEE Access

Self Cite

View full text Add to dashboard Cite

This paper focuses on the path following control problems for autonomous driving vehicles. Aiming at enhancing the robustness and attenuating the chattering phenomenon, a super-twisting sliding mode control algorithm (STA) is developed based on Lyapunov theory, where the proof of the stability of the control system is presented by applying the backstepping technique. Moreover, co-simulation between Matlab/Simulink and Carsim is carried out to verify the path following control performance. In this research, Stanley controller, conventional sliding mode control (SMC), and model predictive control (MPC) are used as the benchmark controllers for evaluating the proposed STA performance. Two driving scenarios are considered in the simulations, including normal driving and fierce driving. To comprehensively assess the control performance and control effort (i.e. magnitude of steering), an integrated and weighted performance evaluation index is novelly provided. Simulation results show that the of the proposed STA can be reduced by 40.5%, 25.8%, 10.9% in the normal driving scenario; and 62.5%, 24%, 6.8% in the fierce driving scenario as compared with Stanley controller, conventional SMC, and MPC, respectively. The results also indicate that the proposed STA outperforms the conventional SMC in terms of the chattering attenuation, resulting in a smoother front steering wheel angle input and a smoother yaw rate performance. As compared with MPC, the advantage of the proposed STA lies in its much lower computational complexity. Furthermore, the robustness of the controllers is verified by changing the vehicle mass and tire parameters. The proposed STA can reduce the fluctuation of the by 22.6%, 22.3%, and 5.9% compared with the benchmark approaches. These results imply that the consideration of system perturbations is very critical in the design of the super-twisting sliding mode controller which can improve the robustness of the autonomous vehicle path following system. INDEX TERMSPath following control, super-twisting sliding mode, backstepping, robustness, perturbations.

show abstract

“…Further, a robust static output-feedback-based control method to improve vehicle handling and stability with the occurrence of a delay in vehicle control system is presented by Wang et al (2016b). Li et al (2020) present a network-induced communication delay as an interval time-varying delay for autonomous ground vehicles. However, in the aforementioned results, the change rate of the delay is not adequately studied.…”

Section: Introductionmentioning

confidence: 99%

Vehicle lateral motion control via robust delay-dependent Takagi-Sugeno strategy

Coşkun

2021

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

Presented in this research paper is an integrated direct yaw moment control (DYC) and active front steering (AFS) for an uncertain vehicle lateral dynamics model considering network-induced communication delay, which is a time-varying continuous function with a known upper bound. Firstly, we consider tire cornering stiffness as a non-linear norm-bounded uncertain system that is modeled by fuzzy membership functions, and then vehicle lateral dynamics model is expressed by a set of linear Takagi-Sugeno (T-S) uncertain fuzzy models. Secondly, since the network-induced communication delay in vehicle control system is an inherent reason for stability and performance degradation, we derive a robust delay-dependent [Formula: see text] control methodology via the Lyapunov-Krasovskii functional for stability and performance conditions of the closed-loop system. For the synthesis, the robust control method is employed within the T-S fuzzy-model-based analysis framework and formulations are performed based on the solution of delay-dependent linear matrix inequalities (LMIs). The simulation study is presented using MATLAB/Simulink to show the achieved improvements in tracking variables via the designed robust fuzzy [Formula: see text] state-feedback controller. The proposed fuzzy robust delay-dependent controller is compared with a linear robust delay-dependent controller to clearly show the tracking improvements for different road conditions. Moreover, a performance-based analysis is carried out to demonstrate the advantage of the design with respect to different delay values. It is confirmed from the analysis results that the proposed fuzzy controller can successfully stabilize and possess improved tracking performance for vehicle lateral motion control.

show abstract

Velocity-based robust fault tolerant automatic steering control of autonomous ground vehicles via adaptive event triggered network communication

Cited by 45 publications

References 41 publications

Dynamic Event-triggered Control and Estimation: A Survey

Dynamic Event-triggered Control and Estimation: A Survey

Robust Backstepping Super-Twisting Sliding Mode Control for Autonomous Vehicle Path Following

Vehicle lateral motion control via robust delay-dependent Takagi-Sugeno strategy

Contact Info

Product

Resources

About