Fault-tolerant Tracking Control of FW-Steering Autonomous Vehicles
This paper studies the path tracking control of four-wheel steering autonomous vehicles. A robust and adaptive fault-tolerant tracking control strategy is proposed to simultaneously counteract modeling uncertainties, unexpected disturbances, coupling effects, as well as actuator failures. By exploiting a state transformation, together with the introduction of virtual points in the longitudinal centerline of the vehicle, a special feature of the control gain matrix is revealed, which allows for the development of structurally simple and computationally inexpensive robust and adaptive control algorithms. The closed-loop stability issues of the control scheme are analyzed using a Lyapunov-based method. A complex nonlinear dynamic model of a passenger vehicle is developed to simulate the dynamic motion performance and for controller design. The controller is tested and verified via computer simulations in the presence of parametric uncertainties and severe driving conditions.
Autonomous vehicle Actuator failures Fault-tolerant Robust adaptive control Path tracking
Henan Chen Yongduan Song Danyong Li
Center for Intelligent Systems and Renewable Energy, Beijing, China. State Key Laboratory of Rail Traffic Control and the Center for Intelligent Systems and Renewable En
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
92-97
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）