In the presence of parametric uncertainty, the adaptive control method for lane changing of intelligent vehicle was studied. Based on the lateral dynamical model of vehicle, by applying terminal sliding mode technology, the yaw-rate tracking control law for lane changing was designed and the estimation formula for uncertain control parameters was deduced by using direct adaptive method. By using the control law and adaptive law for uncertain parameter designed in this paper, expected control performance of stability of tracking error and the convergence property of parameter estimation values was verified from the simulation.
Adaptive Method to Trajectory Tracking for Lane Changing
Applied Mechanics and Materials ; 590 ; 413-417
2014-06-30
5 pages
Article (Journal)
Electronic Resource
English
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