RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Hu, Chuan, Gao, Hongbo, Guo, Jinghua, Taghavifar, Hamid, Qin, Yechen, Na, Jing and Wei, Chongfeng (2019) RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance. IEEE Transactions on Systems, Man, and Cybernetics: Systems. pp. 1-13. ISSN 2168-2216 (In Press)

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RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance.pdf - Accepted Version

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Official URL: https://doi.org/10.1109/tsmc.2019.2950468

Abstract

This article investigates the integrated lane-keeping and roll control for autonomous ground vehicles (AGVs) considering the transient performance and system disturbances. The robust integral of the sign of error (RISE) control strategy is proposed to achieve the lane-keeping control purpose with rollover prevention, by guaranteeing the asymptotic stability of the closed-loop system, attenuating systematic disturbances, and maintaining the controlled states within the prescribed performance boundaries. Three contributions have been made in this article: 1) a new prescribed performance function (PPF) that does not require accurate initial errors is proposed to guarantee the tracking errors restricted within the predefined asymptotic boundaries; 2) a modified neural network (NN) estimator which requires fewer adaptively updated parameters is proposed to approximate the unknown vertical dynamics; and 3) the improved RISE control based on PPF is proposed to achieve the integrated control objective, which analytically guarantees both the controller continuity and closed-loop system asymptotic stability by integrating the signum error function. The overall system stability is proved with the Lyapunov function. The controller effectiveness and robustness are finally verified by comparative simulations using two representative driving maneuvers, based on the high-fidelity CarSim-Simulink simulation.

Item Type: Article
Subjects: H100 General Engineering
H300 Mechanical Engineering
H900 Others in Engineering
Department: Faculties > Engineering and Environment > Mechanical and Construction Engineering
Depositing User: Rachel Branson
Date Deposited: 21 Apr 2020 14:10
Last Modified: 21 Apr 2020 14:15
URI: http://nrl.northumbria.ac.uk/id/eprint/42856

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