Lateral Control of an Intelligent Vehicle Based on Adaptive Robust Neuron Network
An adaptive robust neuron network lateral path tracking control strategy is raised in order to solve the non-linear path tracking problem of the intelligent vehicle at high speed on curve roads.Additionally,a robust term is added to the control law so as to compensate the limit approximation ability of the designed neuron network.The stability of this controller is proven by lyapunov function.Simulation results indicate that the designed steering control strategy is with low tracking error and high stability.
intelligent vehicle path tracking lateral control neuron network lyapunov function
Zhang Kun Bai Yong Cheng Bin
Brilliance Auto R&D Center
国内会议
上海
英文
709-711
2015-10-01（万方平台首次上网日期，不代表论文的发表时间）