Lateral stability control is the key to ensure vehicle driving safety, especially when unmanned ground vehicles perform overtaking and yielding. To this end, this paper investigates finite-time lateral stabilization for an unmanned ground vehicle under velocity-varying motion. A lateral displacement model and a bicycle dynamics model are employed to build a dual closed-loop framework for lateral stabilization. Specifically, a trajectory tracking controller is proposed in the outer loop to calculate the expected yaw rate of the unmanned ground vehicle. In the inner loop, a yaw rate controller combined with a nonlinear extended state observer is developed to track the expected yaw rate under unsteady longitudinal velocity. Finite-time convergence of the overall system is ensured against a coupling influence from the unsteady longitudinal velocity. Experimental results display the superiority of the proposed strategy for the unmanned ground vehicle under velocity-varying motion.
Dual Closed-Loop Finite-Time Control for Lateral Trajectory Tracking of Unmanned Ground Vehicles Under Velocity-Varying Motion
IEEE Transactions on Intelligent Vehicles ; 9 , 10 ; 6137-6147
01.10.2024
9887787 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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