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.
Extended Look-Ahead Tracking Controller with Orientation-Error Observer for Vehicle Platooning
2020-11-01
Bayuwindra , A , Lefeber , E , Ploeg , J & Nijmeijer , H 2020 , ' Extended Look-Ahead Tracking Controller with Orientation-Error Observer for Vehicle Platooning ' , IEEE Transactions on Intelligent Transportation Systems , vol. 21 , no. 11 , 8878003 , pp. 4808-4821 . https://doi.org/10.1109/TITS.2019.2947348
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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