Abstract
ABSTRACT This paper introduces a path-following control method for autonomous ground vehicle with significant input delays. First, a vehicle path-following model including input delay is developed. Then, a robust predictive controller design is developed, in which a delay estimator as well as a state predictor is adopted so that control law design as well as controller gain calculation can be conducted without considering the input delay. Thus, the controller synthesis work can be greatly simplified. Finally, comparative co-simulation tests with Matlab/Simulink and Carsim are presented to verify the efficiency as well as the performance of the proposed path-following control approach.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
