Adaptive dynamic surface longitudinal tracking control of autonomous vehicles. Issue 8 (24th April 2019)

• Record Type: Journal Article
• Authors: Guo, Jinghua; Luo, Yugong; Li, Keqiang; Guo, Lie
• Is Part Of: IET intelligent transport systems. Volume 13:Issue 8(2019)
• Page Start: 1272
• Page End: 1280
• Publication Date: 2019-04-24
• Subjects: stability -- adaptive control -- neurocontrollers -- road safety -- nonlinear control systems -- Lyapunov methods -- control system synthesis; autonomous vehicle -- adaptive dynamic surface longitudinal control system -- longitudinal vehicle model -- adaptive dynamic surface longitudinal tracking control strategy; Intelligent transportation systems -- Periodicals; Electronics in transportation -- Periodicals; 388.31205
• DOI: 10.1049/iet-its.2018.5534
• Languages: English
• ISSNs: 1751-956X

Abstract

Abstract : Autonomous vehicles offer the opportunity of significant benefits to social life, such as improving safety, reducing crashes, decreasing fuel consumption and so on. This study presents a novel adaptive dynamic surface longitudinal tracking control strategy for autonomous vehicles to deal with the effects of non‐linearities and parametric uncertainties of vehicles. First, a longitudinal vehicle model, which can describe the features of non‐linear and external disturbances of autonomous vehicles, is established. Then, an adaptive dynamic surface longitudinal control system is proposed to avoid the explosion of complexity. In addition, an adaptive estimated approach based on neural networks technique is designed to approximate the model uncertainties of autonomous vehicles. The stability of the proposed adaptive control system is discussed by the Lyapunov theory. It has been illustrated for both simulation and experimental tests that the proposed adaptive control system has a remarkable longitudinal tracking performance of the autonomous vehicle.