Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function

IEEE Access

Naveed Mazhar¹  Fahad Mumtaz Malik¹  Abid Raza¹  Rameez Khan¹  Raja Amer Azim¹  Hameed Ullah¹ 

[1] College of Electrical Engineering and Mechanical Engineering, National University of Sciences and Technology (NUST), Islamabad, Pakistan;

关键词: Autonomous vehicle;    barrier function;    lateral dynamics;    nonlinear model reduction;    output constraints;    single-input multi-output control;   

DOI  :  10.1109/ACCESS.2021.3068949

来源: DOAJ

【 摘 要 】

This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is implemented to guarantee the system robustness while maintaining the outputs of the system in realistic bounds. Following the model reduction approach, the slow and fast dynamics of the system are separately controlled using the proposed control technique. The efficacy of the proposed control technique is examined by comparing the simulation results with conventional sliding mode control in two-time scales.

【 授权许可】

Unknown