This paper presents a Multi actuation scheme for path following control of autonomous vehicles. Steering angle of front and rear axles accompanied with wheel torques of front axle and individual left and right wheels of the rear axle are the five control inputs of the system. The required feedback outputs of the system consist of lateral offset, heading angle error and forward speed of the vehicle and their time derivative. In the high-level layer of the controller, zeroing the two path states: lateral offset and heading angle error, and tracking in the longitudinal velocity are targeted by decentralization of proportional-derivative controllers. The high-level part outputs the desired generalized forces and moment on the vehicle body-fixed coordinate. These desired values are tackled by the control inputs through an allocation scheme. The capability of the proposed closed-loop system is analyzed through nonlinear numerical simulations.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multi Actuation Scheme for Path-Following Control of Autonomous Vehicles


    Additional title:

    Mechan. Machine Science



    Conference:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2020 ; Kaiserslautern , Germany June 19, 2020 - June 19, 2020



    Publication date :

    2020-06-19


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Multi Actuation Scheme for Path-Following Control of Autonomous Vehicles

    Ahmadi, Javad / Velenis, Efstathios / Vagha, Heimoud El et al. | TIBKAT | 2020


    Multi-model adaptive predictive control for path following of autonomous vehicles

    Liang, Yixiao / Li, Yinong / Khajepour, Amir et al. | IET | 2021

    Free access

    Multi‐model adaptive predictive control for path following of autonomous vehicles

    Liang, Yixiao / Li, Yinong / Khajepour, Amir et al. | Wiley | 2020

    Free access

    Path following controller for autonomous vehicles

    Domina, Adam / Tihanyi, Viktor | IEEE | 2019


    Internal Model-Based Robust Path-Following Control for Autonomous Vehicles

    Kovács, Adorján / Vajk, István | Springer Verlag | 2024

    Free access