Adaptive Finite-Time Trajectory Tracking Control of Autonomous Vehicles That Experience Disturbances and Actuator Saturation

This article presents a finite-time tracking control scheme for autonomous vehicles. Trajectory tracking is difficult to control due to dynamic couplings and various disturbances and uncertainties. To cope with a lumped disturbance, a fuzzy logic system is designed. In particular, a novel adaptive algorithm is constructed to adjust the gain online, and it works well even without the prior information of the lumped disturbance bounds. An auxiliary system with a simple structure is built to tackle the actuator saturation. Moreover, the proposed control method can guarantee finite-time error convergence, chattering elimination, and strong robustness. Experiment results are presented to show the effectiveness of the control schemes.

• Record URL:
  • http://dx.doi.org/10.1109/MITS.2021.3080075
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/19391390
• Supplemental Notes:
  • Copyright © 2022, IEEE.
• Authors:
  • Gao, Hongbo
  • Kan, Zhen
  • Chen, Fei
  • Hao, Zhengyuan
  • He, Xi
  • Su, Hang
  • Li, Keqiang
• Publication Date: 2022-4

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 80-91
• Serial:
  • IEEE Intelligent Transportation Systems Magazine
  • Volume: 14
  • Issue Number: 2
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1939-1390
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=5117645

Subject/Index Terms

• TRT Terms: Actuators; Adaptive control; Autonomous vehicles; Tracking systems; Trajectory
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01842134
• Record Type: Publication
• Files: TRIS
• Created Date: Apr 11 2022 10:46AM