Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject to Wheel Slip Constraint

被引：0

作者：

Chen, Changfang ^{[1
]}

Jia, Yingmin ^{[1
,2
]}

Du, Junping ^{[3
]}

Yu, Fashan ^{[4
]}

机构：

[1] Beihang Univ BUAA, Res Div 7, Beijing 100191, Peoples R China

[2] Beihang Univ, Key Lab Informat Math & Behav Semant LIMB, SMSS, Beijing 100191, Peoples R China

[3] Beijing Univ Posts & Telecommun, Sch Comp Sci & Technol, Beijing Key Lab Intelligent Telecommun Software &, Beijing 100876,, Peoples R China

[4] Henan Polytech Univ, Sch Elect Engn & Automat, Jiaozuo, Henan 454000, Peoples R China

来源：

2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年

关键词：

DRIVER STEERING ASSISTANCE; DEPARTURE AVOIDANCE; LATERAL CONTROL; PERFORMANCE; MOTION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.

引用

页码：6515 / 6520

页数：6

共 50 条

[11] Design and Implementation of a 4WS4WD Mobile Robot and Its Control Applications
Lin, Chih-Jui
Hsiao, Su-Ming
Wang, Ying-Hao
Yeh, Cheng-Hao
Huang, Chien-Feng
Li, Tzuu-Hseng S.
IEEE INTERNATIONAL CONFERENCE ON SYSTEM SCIENCE AND ENGINEERING (ICSSE 2013), 2013, : 235 - 240
[12] Path-Tracking Control of an Autonomous 4WS4WD Electric Vehicle Using its Natural Feedback Loops
Potluri, Ramprasad
Singh, Arun Kant
2013 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), 2013, : 394 - 400
[13] Path-Tracking Control of an Autonomous 4WS4WD Electric Vehicle Using Its Natural Feedback Loops
Potluri, Ramprasad
Singh, Arun Kant
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (05) : 2053 - 2062
[14] Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles
Li, Dan-Yong
Song, Yong-Duan
Huang, Dong
Chen, He-Nan
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2013, 14 (01) : 169 - 179
[15] PANDORA Monstertruck: A 4WS4WD Car-Like Robot for Autonomous Exploration in Unknown Environments
Kouros, George
Petrou, Loukas
PROCEEDINGS OF THE 2017 12TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2017, : 974 - 979
[16] Force control for path following of a 4WS4WD vehicle by the integration of PSO and SMC
Dai, Penglei
Katupitiya, Jay
VEHICLE SYSTEM DYNAMICS, 2018, 56 (11) : 1682 - 1716
[17] Integrated Optimal Dynamics Control of 4WS4WD Electric Ground Vehicles with Tire-Road Frictional Coefficient Estimation
Hu, Chuan
Wang, Rongrong
Wang, Zejiang
Chadli, Mohammed
Yan, Fengjun
2015 AMERICAN CONTROL CONFERENCE (ACC), 2015, : 5426 - 5431
[18] Comments on "Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles"
Singh, Arun Kant
Potluri, Ramprasad
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2015, 16 (03) : 1588 - 1593
[19] Adaptive Fault-tolerant Tracking Control of 4WS4WD Road Vehicles: A Fully Model-independent Solution
Li DanYong
Song YongDuan
PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 485 - 492
[20] A control scheme for automatic path tracking of vehicles subject to wheel slip constraint
Peng, ST
Sheu, JJ
Chang, CC
PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2004, : 804 - 809

← 1 2 3 4 5 →