Abstract
This paper studies the lateral and longitudinal path tracking control of four-wheel steering autonomous vehicles. A robust and adaptive fault-tolerant tracking control strategy is proposed to simultaneously counteract modeling uncertainties, unexpected disturbances, coupling effects, as well as actuator failures. By introducing the virtual points along the longitudinal centerline of the vehicle and utilizing a state transformation, a special feature of the control gain matrix is revealed, which allows for the development of structurally simple and computationally inexpensive robust adaptive and fault-tolerant control algorithms. The closed-loop stability issues of the control scheme are analyzed using a Lyapunov-based method. A nonlinear dynamic model of a passenger vehicle is developed to simulate the performance of control design. The controller is tested and validated via computer simulations in the presence of parametric uncertainties and varying driving conditions. © 2011 IEEE.
| Original language | English |
|---|---|
| Article number | 5934698 |
| Pages (from-to) | 1343-1351 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Intelligent Transportation Systems |
| Volume | 12 |
| Issue number | 4 |
| Early online date | 30 Jun 2011 |
| DOIs | |
| Publication status | Published - Dec 2011 |
| Externally published | Yes |
Bibliographical note
The Associate Editor for this paper was L. Li.Funding
This work was supported in part by the National Natural Science Foundation of China under Grant 60974052, by the Program for Changjiang Scholars and Innovative Research Team in University under Grant IRT0949, and by Beijing Jiaotong University Research Program under Grants RCS2008ZT002, 2009JBZ001, and 2009RC008.
Keywords
- Actuator failures
- autonomous vehicle
- fault tolerant
- path tracking
- robust adaptive control