Journal ArticleDOI
Invariant Trajectory Tracking With a Full-Size Autonomous Road Vehicle
TLDR
Two complementary nonlinear Lyapunov-based tracking-control laws are proposed to solve the problem of stabilization of precalculated state trajectories for speeds between ±6 m/s and they provide a smooth, singularity-free stopping transient.Abstract:
Safe handling of dynamic inner-city scenarios with autonomous road vehicles involves the problem of stabilization of precalculated state trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose two complementary nonlinear Lyapunov-based tracking-control laws to solve the problem for speeds between ±6 m/s. Their designs are based on an extended kinematic one-track model, and they provide a smooth, singularity-free stopping transient. With regard to autonomous test applications, the proposed tracking law without orientation control performs much better with respect to control effort and steering-input saturation than the one with orientation control but needs to be prudently combined with the latter for backward driving. The controller performance is illustrated with a full-size test vehicle.read more
Citations
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Proceedings ArticleDOI
Model Predictive Control for Agricultural Machines with Implements
TL;DR: The rear axle midpoint is transformed to any point that is rigidly coupled to the vehicle, e.g., an agricultural implement, which provides the possibility to react to kinematic restrictions and actuator dynamics as well as to delay times in the actuator system.
Dissertation
A multi-agent based cooperative control model applied to the management of vehicles-trains
TL;DR: This thesis proposes a cooperative control system which relies on multi-level decision processes aimed at dealing with the interaction of platoons at road network nodes and allows both to maintain the coherence and the safety condition of each involved train of vehicles and to adapt each train components behavior so as to make train shared the road, and especially roundabouts and crossroads, efficiently.
Ensuring Drivability of Planned Motions from Simple Models Using Formal Methods
TL;DR: This work modeling vehicles as differential inclusions composed from simple dynamics plus set-based uncertainty plus conformance testing is used to determine the required uncertainty; pre-computed reachable sets are obtained for pre-selected motion primitives.
Journal ArticleDOI
Linear Time-Variant Vehicle Trajectory Guidance with Nonlinear Inversion-Based Feedforward Control
TL;DR: A two-degree-of-freedom (2DOF) control concept for vehicle trajectory guidance for automated driving on highways consisting of a nonlinear feedforward control and a linear time-variant feedback controller is presented.
Proceedings ArticleDOI
Systematically comparing control approaches in the presence of actuator errors
TL;DR: This work compares two trajectory generation and control approaches for autonomous driving in simulation and demonstrates that the control approach incorporating uncertainties performs better in one class of critical scenarios although its error model is different to the applied inaccuracies.
References
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Book
Nonlinear and adaptive control design
TL;DR: In this paper, the focus is on adaptive nonlinear control results introduced with the new recursive design methodology -adaptive backstepping, and basic tools for nonadaptive BackStepping design with state and output feedbacks.
Journal ArticleDOI
Flatness and defect of non-linear systems: introductory theory and examples
TL;DR: In this paper, the authors introduce flat systems, which are equivalent to linear ones via a special type of feedback called endogenous feedback, which subsumes the physical properties of a linearizing output and provides another nonlinear extension of Kalman's controllability.
Journal ArticleDOI
Control of chained systems application to path following and time-varying point-stabilization of mobile robots
TL;DR: Application to the control of nonholonomic wheeled mobile robots is described by considering the case of a car pulling trailers, and globally stabilizing time-varying feedbacks are derived.
Journal ArticleDOI
The swing up control problem for the Acrobot
TL;DR: In this article, the authors considered the swing-up control problem of a two-degree-of-freedom planar robot with a single actuator and gave conditions under which the response of either degree of freedom may be globally decoupled from the response on the other and linearized.
Journal ArticleDOI
Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty
TL;DR: It is demonstrated how adaptive switching supervisory control can be combined with a nonlinear Lyapunov-based tracking control law to solve the problem of global boundedness and convergence of the position tracking error to a neighborhood of the origin that can be made arbitrarily small.
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