Autonomous vehicles offer the opportunity of significant benefits to social life, such as improving safety, reducing crashes, decreasing fuel consumption and so on. This study presents a novel adaptive dynamic surface longitudinal tracking control strategy for autonomous vehicles to deal with the effects of non-linearities and parametric uncertainties of vehicles. First, a longitudinal vehicle model, which can describe the features of non-linear and external disturbances of autonomous vehicles, is established. Then, an adaptive dynamic surface longitudinal control system is proposed to avoid the explosion of complexity. In addition, an adaptive estimated approach based on neural networks technique is designed to approximate the model uncertainties of autonomous vehicles. The stability of the proposed adaptive control system is discussed by the Lyapunov theory. It has been illustrated for both simulation and experimental tests that the proposed adaptive control system has a remarkable longitudinal tracking performance of the autonomous vehicle.
Adaptive dynamic surface longitudinal tracking control of autonomous vehicles
IET Intelligent Transport Systems ; 13 , 8 ; 1272-1280
2019-04-24
9 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
stability , road safety , control system synthesis , autonomous vehicle , Lyapunov methods , adaptive dynamic surface longitudinal control system , neurocontrollers , longitudinal vehicle model , nonlinear control systems , adaptive control , adaptive dynamic surface longitudinal tracking control strategy
Metadata by IET is licensed under CC BY 3.0
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