DOAJ Open Access 2023

Speed-Adaptive Model-Free Path-Tracking Control for Autonomous Vehicles: Analysis and Design

Marcos Moreno-Gonzalez Antonio Artuñedo Jorge Villagra Cédric Join Michel Fliess

Abstrak

One of the challenges of autonomous driving is to increase the number of situations in which an intelligent vehicle can continue to operate without human intervention. This requires path-tracking control to keep the vehicle stable while following the road, regardless of the shape of the road or the longitudinal speed at which it is moving. In this work, a control strategy framed in the Model-Free Control paradigm is presented to control the lateral vehicle dynamics in a decoupled control architecture. This strategy is designed to guide the vehicle through trajectories with diverse dynamic constraints and over a wide speed range. A design method for this control strategy is proposed, and metrics for trajectory tracking quality, system stability, and passenger comfort are applied to evaluate the controller’s performance. Finally, simulation and real-world tests show that the developed strategy is able to track realistic trajectories with a high degree of accuracy, safety, and comfort.

Topik & Kata Kunci

Mechanical engineering and machinery Machine design and drawing Motor vehicles. Aeronautics. Astronautics

Penulis (5)

Marcos Moreno-Gonzalez

Antonio Artuñedo

Jorge Villagra

Cédric Join

Michel Fliess

Format Sitasi

APA MLA BibTeX

Moreno-Gonzalez, M., Artuñedo, A., Villagra, J., Join, C., Fliess, M. (2023). Speed-Adaptive Model-Free Path-Tracking Control for Autonomous Vehicles: Analysis and Design. https://doi.org/10.3390/vehicles5020038

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Informasi Jurnal

Tahun Terbit: 2023
Sumber Database: DOAJ
DOI: 10.3390/vehicles5020038
Akses: Open Access ✓