Robust Adaptive Path-Tracking Control of Autonomous Ground Vehicles With Considerations of Steering System Backlash
Backlash phenomena have haunted control engineers for ages. Concerning the ground vehicle path-tracking control system design, the steering system's backlash attribute is often overlooked. If not properly compensated, the backlash nonlinearity tends to provoke unfavorable consequences including erroneous positioning of the road-wheel steering angle, response chattering, limit-cycle-like oscillations, and delays. This paper pioneers to employ an adaptive inverse controller to offset the dynamics of the steering system's backlash. Overall, the path-following objective is accomplished via a novel trio-loop control architecture, which decomposes the tracking objectives into kinematic, vehicular lateral dynamics, and steering backlash compensation sub-levels. All adaptive control laws are robustified by means of sigma modification. Hardware-in-the-loop experimental results are presented to demonstrate the superiorities of the proposed solution.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/23798858
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Supplemental Notes:
- Copyright © 2022, IEEE.
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Authors:
- Zhou, Xingyu
- Wang, Zejiang
- Shen, Heran
- Wang, Junmin
- Publication Date: 2022-6
Language
- English
Media Info
- Media Type: Web
- Features: References;
- Pagination: pp 315-325
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Serial:
- IEEE Transactions on Intelligent Vehicles
- Volume: 7
- Issue Number: 2
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- ISSN: 2379-8858
- Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274857
Subject/Index Terms
- TRT Terms: Adaptive control; Automotive engineering; Autonomous vehicles; Steering systems; Trajectory control; Vehicle dynamics
- Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;
Filing Info
- Accession Number: 01856085
- Record Type: Publication
- Files: TRIS
- Created Date: Aug 25 2022 4:59PM