Sloped terrain is common in practice. This paper proposes a lateral controller for controlling the autonomous ground vehicle (AGV) to track the reference path on sloped terrain. The impact of sloped terrain on AGV’s motion is analyzed. The lateral disturbance from gravity is modeled, and a feedforward compensator is designed to counteract the effect of the lateral disturbance. A lateral controller consisting of a feedforward compensator and a feedback controller based on linear time-varying model predictive control (LTV-MPC) is proposed. Simulations are carried out to evaluate the control performance. The controller proposed in this paper is compared with an LTV-MPC-based feedback controller which models the lateral disturbance from gravity. It is shown that the controller proposed in this paper can achieve better control performance.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Lateral Controller with Feedforward Compensator for Autonomous Ground Vehicle Tracking Path on Sloped Terrain


    Contributors:
    Bian, Liunian (author) / Liu, Ling (author) / Zhou, Yiqing (author)


    Publication date :

    2022-09-01


    Size :

    1740464 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    A DATA DRIVEN METHOD OF FEEDFORWARD COMPENSATOR OPTIMIZATION FOR AUTONOMOUS VEHICLE CONTROL

    Wang, Pin / Shi, Tianyu / Zou, Chonghao et al. | British Library Conference Proceedings | 2019


    Investigating Vehicle Behavior on a Sloped Terrain Surface

    Bolarinwa, Emmanuel / Uzunsoy, Erdem / Olatunbosun, Oluremi et al. | SAE Technical Papers | 2014



    LATERAL CONTROL IN PATH-TRACKING OF AUTONOMOUS VEHICLE

    YU JINGSHENG | European Patent Office | 2022

    Free access