期刊
SIMULATION MODELLING PRACTICE AND THEORY
卷 109, 期 -, 页码 -出版社
ELSEVIER
DOI: 10.1016/j.simpat.2020.102235
关键词
Autonomous ground vehicles; Trajectory tracking; Differential steering; Motor fault; Sliding mode control; Observer design
资金
- National Natural Science Foundation of China [U1564201, U1664258, 51875255]
- National Key Research and Development Program of China [2017YFB0102603]
- Six Talent Peaks Project of Jiangsu Province [2018TDGDZB022]
- Postgraduate Scientific Research Innovation Program of Jiangsu Province [SJKY19_2536]
- Opening Foundation of Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Ministry of Education [2019KLMT04]
This study focuses on the trajectory tracking control problem of steer-by-wire autonomous ground vehicles in the event of complete failure of the vehicle steering motor. By analyzing the mechanical transmission mechanism and designing controllers, the study successfully demonstrates the use of differential steering for vehicle turning in emergencies, and proposes an observer design method to estimate the actual vehicle steering angle.
This paper investigates the trajectory tracking control problem of steer-by-wire autonomous ground vehicle considering the complete failure of vehicle steering motor. In order to achieve the trajectory tracking control of autonomous ground vehicle in presence of the complete failure of vehicle steering motor, the mechanical transmission mechanism of vehicle steering system is analyzed with the steering motor fault being considered, and the differential steering is used to actuate the turning of vehicle in case of emergency. A model predictive controller with the constraints of tire cornering angle and road adhesion is designed to compute the expected frontwheel steering angle for vehicle trajectory tracking control, and a nonsingular terminal sliding mode controller is proposed to track the expected front-wheel steering angle using differentialsteering moment, in which a novel observer design method is presented to estimate the actual front-wheel steering angle. Two case studies are implemented in a CarSim-Simulink co-simulation platform, and the simulation results have verified that the proposed method have satisfactory trajectory tracking control effectiveness in presence of the complete failure of vehicle steering motor.
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