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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    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 :

    2020-11-01


    Format / Umfang :

    3778826 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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

    Bayuwindra, Anggera / Lefeber, Erjen / Ploeg, Jeroen et al. | BASE | 2020

    Freier Zugriff

    Combined longitudinal and lateral control of car-like vehicle platooning with extended look-ahead

    Bayuwindra, Anggera / Ploeg, Jeroen / Lefeber, Erjen et al. | BASE | 2020

    Freier Zugriff

    Look-ahead cruise control for heavy duty vehicle platooning

    Alam, Assad / Martensson, Jonas / Johansson, Karl H. | IEEE | 2013


    Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information

    Darbha, Swaroop / Konduri, Shyamprasad / Pagilla, Prabhakar R. | Wiley | 2020

    Freier Zugriff

    Fuel-efficient heavy-duty vehicle platooning by look-ahead control

    Turri, Valerio / Besselink, Bart / Mårtensson, Jonas et al. | BASE | 2014

    Freier Zugriff