Abstract
This paper addresses an augmented nonlinear lateral vehicle and lane keeping dynamics in the presence of some unknown disturbances. In a geometric basin, considering unobservable spaces, their orthogonal complements, and using control invariant properties, a disturbance decoupling mechanism is designed for the mentioned dynamics. Afterward, a nonlinear tracking controller is designed to steer the vehicle on a reference path. The obtained disturbance decoupling and tracking controllers are implemented on a typical passenger car in a simulation environment to demonstrate the effectiveness and performance of the proposed method. It is shown that the controller decouples both the uniformly distributed and exponentially attenuated disturbances from the output.
Highlights
A UTONOMOUS vehicle as a progressing technology has attracted many attentions from various different disciplines and as a result, most giant auto manufacturers like BMW and Toyota are investing billions of dollars for developing this technology
The disturbance decoupler and tracking controllers are designed with these nominal values, and afterward, random uncertainties of about 20% and 40% of nominal values of the longitudinal velocity and the cornering stiffness parameters are considered in the dynamics, respectively
In this paper, the nonlinear lateral dynamics of an autonomous vehicle augmented by the lane keeping dynamics were considered
Summary
A UTONOMOUS vehicle as a progressing technology has attracted many attentions from various different disciplines and as a result, most giant auto manufacturers like BMW and Toyota are investing billions of dollars for developing this technology. Lateral and longitudinal dynamics control are discussed in literatures with various control methods like sliding mode [7]–[9], output feedback [10], [11], fuzzy methods [12], [13], model predictive control [13], [14], gain scheduling [15], [16], linear quadratic regulator [17] and neural networks [18] Among these diverse control systems, disturbance decoupling is one of the most important topics in which, in the presence of some unwanted conditions, the vehicle has to be comforted for its passenger or track a desired trajectory.
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