Path-Tracking Considering Yaw Stability With Passivity-Based Control for Autonomous Vehicles

Abstract

In this paper, a new passivity-based control approach is designed to improve the robustness and stability of autonomous vehicles in performing path-tracking tasks. A port-Hamiltonian model is a special geometric structure and provides a systematic and insightful framework to describe many physical systems from an energy perspective. The passivity-based control establishes a new and simple structure to achieve the path-tracking task by the port-Hamiltonian structure. Firstly, the path-tracking error system is transformed into a port-Hamiltonian system with the perturbation. The energy-shaping method is utilized to ensure the asymptotic stability, and the stability proof of the closed-loop, path-tracking error system is given. The proposed real-time, passivity-based controller is directly dependent on the passive outputs, which is robust to parameter uncertainties caused by load changes. Moreover, the control performance of steering control will be degraded when the steering angle is saturated. The yaw-moment control is introduced to enhance the driving safety. In the wheel torque distribution, an optimization-based control allocation is designed to minimize the sum of tire loads and to make them more evenly distributed to each tire. Finally, simulations are implemented in MATLAB/Simulink and CarSim co-simulation to demonstrate the effectiveness of the designed strategy under different driving conditions.