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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DissertationDOI
Trajektorienplanung und Fahrzeugführung für hochautomatisiertes Fahren auf der Autobahn
TL;DR: In this article, the authors present an approach for the planning of a Trajektorienplanung and a Fahrzeugfuhrung in an automatisierten vehicle.
Proceedings ArticleDOI
Hybrid Reinforcement Learning based controller for autonomous navigation
TL;DR: This paper presents a novel approach to fusing Deep Reinforcement Learning-based longitudinal control with a traditional PID lateral controller for autonomous navigation by generation of an adequate fidelity simulation scenario via a Real2Sim approach and training a DRL agent within this framework.
Proceedings ArticleDOI
Hybrid Reinforcement Learning based controller for autonomous navigation
TL;DR: In this paper , a Deep Reinforcement Learning-based (DRL) longitudinal control with a traditional PID lateral controller for autonomous navigation is presented, where a DRL framework is used to generate policies for an optimal longitudinal controller that successfully complements the PID to give the best tracking performance.
Journal ArticleDOI
Control of a wheeled system taking into account its inertial properties
TL;DR: In this paper, a control law stabilizing the WS motion along a given trajectory is constructed for general WS models that additionally take into account inertial properties such as the WS masses and/or moments of inertia.
Book ChapterDOI
Lateral Vehicle Control
TL;DR: Curves have curvatures which develop steadily, such that driving without lateral jerk is possible, and roads usually built from elements of circles, clothoids with intermediate connections, and straight lines.
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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