Abstract
This paper presents a novel method to achieve trajectory tracking of intelligent vehicles. Both kinetic control and kinematical control are considered in the design procedure, which are called execution layer and decision layer respectively. In the execution layer, input-output decoupling is applied to velocity-varying 4WS vehicles kinetic model. As a result, 3-DOF movements of vehicles can be tracked independently. In the decision layer, the trajectory tracking error model is used to design the desired movements of intelligent vehicles based on sliding mode control. Finally, the two layers can be combined into a system. The simulation results show the system can make the intelligent vehicles track a certain trajectory accurately.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
J. Ackermann, Safe and comfortable travel by robust control, in Trends in Control, London (1995), pp. 1–16
R. Rajkumar, A cyber-physical future. Proc. IEEE 100, 1309–1312 (2012)
S.A. Arogeti, N. Berman, Path following of autonomous vehicles in the presence of sliding effects. IEEE Trans. Veh. Technol. 61(4), 1481–1492 (2012)
J. Giesbrecht, D. Mackay, J. Collier et al., Path tracking for unmanned ground vehicle navigation. DRDC Suffield TM (2005)
J. Ackermann, Robust control prevents car skidding. IEEE Control Syst. Mag. 17(3), 23–31 (1997)
Y. Jia, Robust control with decoupling performance for steering and traction of 4WS vehicles under velocity-varying motion. IEEE Trans. Control Syst. Technol. 8(3), 554–569 (2000)
R. Skjetne, T.I. Fossen, Nonlinear maneuvering and control of ships. Oceans 3, 1808–1815 (2001)
X. Zhao, H. Chen, Optimal control of the automatic steering system, in IEEE International Conference on Vehicular Electronics and Safety (2011), pp. 39–43
Y. Kanayama, Y. Kimura, F. Miyazaki et al., A stable tracking control method for an autonomous mobile robot, in IEEE International Conference on Robotics and Automation, 1990. Proceedings, vol. 1 (1991), pp. 384–389
T. Ye, Z.G. Hou, M. Tan et al., Sliding mode trajectory tracking control of mobile robot. High Technol. Lett. 11(1), 71–74 (2004)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Wu, J., Jia, Y. (2019). Trajectory Tracking of Intelligent Vehicles Based on Decoupling Performance. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 528. Springer, Singapore. https://doi.org/10.1007/978-981-13-2288-4_6
Download citation
DOI: https://doi.org/10.1007/978-981-13-2288-4_6
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-2287-7
Online ISBN: 978-981-13-2288-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)