This study addresses the path-tracking control issue of autonomous vehicles (AVs) when the GPS measurement is temporarily unavailable. In such a case, the vehicle states, location or the curvature of the reference path might be unobtainable, while the camera can be potentially used to detect the path-tracking states. To this end, this paper proposes a fuzzy-observer-based composite nonlinear feedback (CNF) controller with a Takagi-Sugeno (T-S) vehicle lateral dynamic model to guarantee the normal path-tracking maneuver and improve the transient performance. A parallel distributed compensation (PDC)-based CNF control method is developed to realize the control objective with the T-S vehicle model considering the transient performance and actuator saturation. The closed-loop stability and ${H} _{ \boldsymbol {\infty }}$ index performance integrating the tracking and estimation errors have been proved with a Lyapunov approach. The observer-based controller design has been implemented based on the formulation of the linear matrix inequalities (LMIs). High-fidelity simulations using CarSim-Matlab/Simulink have demonstrated the validity of the proposed approach in terms of enhancing the tracking performance under the input saturation and disturbances in GPS-denied environments.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fuzzy Observer-Based Transitional Path-Tracking Control for Autonomous Vehicles


    Beteiligte:
    Hu, Chuan (Autor:in) / Chen, Yimin (Autor:in) / Wang, Junmin (Autor:in)


    Erscheinungsdatum :

    2021-05-01


    Format / Umfang :

    2900942 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Fuzzy Strategies for Path Tracking of Autonomous Vehicles

    Ollero, A. / Martinez, J. L. / Garcia-Cerezo, A. et al. | British Library Conference Proceedings | 1993



    EKF-Neural Network Observer Based Type-2 Fuzzy Control of Autonomous Vehicles

    Taghavifar, Hamid / Hu, Chuan / Qin, Yechen et al. | IEEE | 2021



    Explicit path tracking by autonomous vehicles

    Dong Hun Shin / Sanjiv Singh / Lee, Ju-Jang | Tema Archiv | 1992