Abstract This paper presents a novel method to achieve trajectory tracking of intelligent vehicles. Both kinetic control and kinematical control are considered in the design procedure, which are called execution layer and decision layer respectively. In the execution layer, input-output decoupling is applied to velocity-varying 4WS vehicles kinetic model. As a result, 3-DOF movements of vehicles can be tracked independently. In the decision layer, the trajectory tracking error model is used to design the desired movements of intelligent vehicles based on sliding mode control. Finally, the two layers can be combined into a system. The simulation results show the system can make the intelligent vehicles track a certain trajectory accurately.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Trajectory Tracking of Intelligent Vehicles Based on Decoupling Performance


    Beteiligte:
    Wu, Jianrui (Autor:in) / Jia, Yingmin (Autor:in)


    Erscheinungsdatum :

    06.10.2018


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Trajectory Tracking of Intelligent Vehicles Based on Decoupling Performance

    Wu, Jianrui / Jia, Yingmin | British Library Conference Proceedings | 2019


    MPC-Based Trajectory Tracking Control for Intelligent Vehicles

    Zhu, Bing / Zhang, Sumin / Ming, Tingyou et al. | SAE Technical Papers | 2016


    MPC-Based Trajectory Tracking Control for Intelligent Vehicles

    Ming, Tingyou / Deng, Weiwen / Zhang, Sumin et al. | British Library Conference Proceedings | 2016


    Method of decoupling trajectory planning and tracking

    RESHEF ROI / SUISSA AVSHALOM | Europäisches Patentamt | 2024

    Freier Zugriff

    Autonomous Vehicles Lane-Changing Trajectory Planning Based on Hierarchical Decoupling

    Lin, Xinyou / Wang, Tianfeng / Zeng, Songrong et al. | IEEE | 2024