Liang, Zhongchao;
Shen, Mingyu;
Zhao, Jing;
Li, Zhongguo;
Wang, Yongfu;
Ding, Zhengtao;
(2023)
Adaptive Sliding Mode Fault Tolerant Control for Autonomous Vehicle With Unknown Actuator Parameters and Saturated Tire Force Based on the Center of Percussion.
IEEE Transactions on Intelligent Transportation Systems
pp. 1-12.
10.1109/tits.2023.3289439.
(In press).
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Abstract
With consideration of tire force saturation in vehicle motions, a novel path-following controller is developed for autonomous vehicles with unknown-bound disturbances and unknown actuator parameters. An adaptive sliding-mode fault-tolerant control (ASM-FTC) strategy is designed to stabilize the path-following errors without any information of disturbance boundaries, actuator fault boundaries and steering ratio from the steering wheel to the front wheels. By selecting the distance from the center of gravity to the center of percussion as the preview length, the effects of the lateral rear-tire force are decoupled and cancelled out, and then the preview error, which represents the path-following performance, can be only commanded by the front-tire force. To further address the issue of unknown tire-road friction limits, a modified ASM-FTC strategy is presented to improve the path-following performance as the lateral tire force is saturated. Simulation results show that the modified ASM-FTC controller demonstrates superior tracking performance over the normal ASM-FTC while the autonomous vehicle follows desired paths.
| Type: | Article |
|---|---|
| Title: | Adaptive Sliding Mode Fault Tolerant Control for Autonomous Vehicle With Unknown Actuator Parameters and Saturated Tire Force Based on the Center of Percussion |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/tits.2023.3289439 |
| Publisher version: | https://doi.org/10.1109/TITS.2023.3289439 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| Keywords: | Path following, autonomous vehicle, friction limits, tire force saturation, bound-unknown disturbances, unknown steering ratio. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10173515 |
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