Adaptive Finite Time Trajectory Tracking Control of Autonomous Vehicles

Abstract

Trajectory tracking problem of autonomous vehicle under lane change is considered in this paper. To improve trajectory tracking performance in real scene, an adaptive tracking controller with finite time convergence performance is proposed to deal with the uncertain factors in the lane change scenario. The effectiveness and advantages of the proposed adaptive finite time control strategy (AFTCS) are illustrated by the simulation comparison results with the conventional PID tracking controller.