An adaptive fuzzy-sliding lateral control strategy of automated vehicles based on vision navigation
Lateral control is considered to be one of the toughest challenges in the development of automated vehicles due to their features of nonlinearities, parametric uncertainties and external disturbances. In order to overcome these difficulties, an adaptive fuzzy-sliding mode control strategy used for lateral control of vision-based automated vehicles is proposed in this paper. First, a vision algorithm is designed to provide accurate location information of vehicle relative to reference path. Then, an adaptive fuzzy-sliding mode lateral controller is proposed to counteract parametric uncertainties and strong nonlinearities, and the asymptotic stability of the closed-loop lateral control system is proven by the Lyapunov theory. Finally, experimental results indicate that the proposed algorithm can achieve favourable tracking performance, and it has strong robustness.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/00423114
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Supplemental Notes:
- Abstract reprinted with permission from Taylor & Francis.
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Authors:
- Guo, Jinghua
- Li, Linhui
- Li, Keqiang
- Wang, Rongben
- Publication Date: 2013-10
Language
- English
Media Info
- Media Type: Web
- Features: Figures; References; Tables;
- Pagination: pp 1502-1517
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Serial:
- Vehicle System Dynamics
- Volume: 51
- Issue Number: 10
- Publisher: Taylor & Francis
- ISSN: 0042-3114
- EISSN: 1744-5159
- Serial URL: https://www.tandfonline.com/toc/nvsd20/current
Subject/Index Terms
- TRT Terms: Adaptive control; Automated vehicle control; Automatic steering control; Automatic tracking; Intelligent vehicles; Machine vision; Sliding mode control
- Subject Areas: Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;
Filing Info
- Accession Number: 01499425
- Record Type: Publication
- Files: TRIS
- Created Date: Nov 21 2013 9:21AM