This paper presents a novel extended look-ahead concept of an integrated lateral and longitudinal vehicle following controller with an orientation-error observer. The control law is based on input-output feedback to address a local tracking problem. It is known that due to the position control in the look-ahead approach, the follower vehicle may cut corners. To address this problem, a reference-induced extended look-ahead tracking point is introduced such that the cutting-corner is compensated. Moreover, the stability of the internal dynamics is analyzed. To address the situation where the orientation tracking error is not measurable or corrupted by noise, an orientation-error observer, constructed from the position tracking error, is designed. The performance of the extended look-ahead controller and the orientation-error observer is investigated by means of a simulation study, and validated with experiments on a mobile robot platform.


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    Titel :

    Extended Look-Ahead Tracking Controller With Orientation-Error Observer for Vehicle Platooning


    Beteiligte:
    Bayuwindra, Anggera (Autor:in) / Lefeber, Erjen (Autor:in) / Ploeg, Jeroen (Autor:in) / Nijmeijer, Henk (Autor:in)


    Erscheinungsdatum :

    01.11.2020


    Format / Umfang :

    3778826 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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