Path Following of Autonomous Vehicles in the Presence of Sliding Effects

Author

Arogeti, Shai A. ; Berman, Nadav

Author_Institution

Dept. of Mech. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel

Volume

61

Issue

4

fYear

2012

fDate

5/1/2012 12:00:00 AM

Firstpage

1481

Lastpage

1492

Abstract

In this paper, a new controller for the path-following problem of a car-like autonomous vehicle is proposed. This controller is based on a new transformation that, for the case of roll with no slip, transfers the model to a chain form. However, in many practical cases, due to the strong effects of tire slip angles, a roll with no slip assumption is invalid. To cope with the presence of slip, a novel controller is proposed. The new method is based on a vehicle kinematical model, where the tire slip angles are taken into account. The control design method utilizes a peak-to-peak criterion and linear matrix inequality (LMI) tools to attenuate tire slip angle effects on the closed-loop performance.

Keywords

closed loop systems; control system synthesis; linear matrix inequalities; mobile robots; position control; road vehicles; vehicle dynamics; car-like autonomous vehicle; closed-loop performance; linear matrix inequality; path following; peak-to-peak criterion; sliding effects; tire slip angles; vehicle kinematical model; Convergence; Mobile robots; Tires; Trajectory; Vehicles; Wheels; Autonomous vehicles; linear matrix inequality (LMI); path following; peak-to-peak $L_{infty}$ control;

fLanguage

English

Journal_Title

Vehicular Technology, IEEE Transactions on

Publisher

ieee

ISSN

0018-9545

Type

jour

DOI

10.1109/TVT.2012.2186991

Filename

6148297