4.6 Article

Robust Adaptive Path-Tracking Control of Autonomous Ground Vehicles With Considerations of Steering System Backlash

Journal

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
Volume 7, Issue 2, Pages 315-325

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIV.2022.3146085

Keywords

Kinematics; Vehicle dynamics; Intelligent vehicles; Mathematical models; Adaptation models; Trajectory; Steering systems; Adaptive inverse control; autonomous driving; linear quadratic regulator; model reference adaptive control; path tracking; sigma modification; steering backlash

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This paper proposes a novel control architecture to tackle the backlash issue in ground vehicle path-tracking. The dynamics of the steering system's backlash are compensated using an adaptive inverse controller and robustified with sigma modification. Hardware experiments demonstrate the superiority of the proposed solution.
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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