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Improved adaptive lane‐keeping control for four‐wheel steering vehicles without lateral velocity measurements
Author(s) -
Shu Panfeng,
Sagara Shinichi,
Wang Qiang,
Oya Masahiro
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3824
Subject(s) - controller (irrigation) , control theory (sociology) , computer science , expression (computer science) , adaptive control , control engineering , control (management) , engineering , artificial intelligence , agronomy , biology , programming language
Summary Previously, we developed an adaptive lane‐keeping controller for vehicles without using lateral velocity measurements. However, the construction of the controller is very complex and not suitable for practical applications. To overcome this problem, we propose an improved adaptive lane‐keeping controller that is much simpler than the conventional controller. To obtain the improved controller, we propose an improved vehicle dynamic expression. In this dynamic expression, fewer elements are estimated adaptively as containing unknown vehicle parameters compared with the conventional expression. Moreover, a control performance improvement method is described theoretically. Finally, we report numerous simulations that validated the effectiveness of the improved controller. Copyright © 2017 John Wiley & Sons, Ltd.