Open AccessA triple‐step non‐linear control for path following of autonomous vehicles with uncertain kinematics and dynamics
Author(s) -
Wang Yulei,
Bian Ning,
Li Jingyu,
Yuan Jingxin,
Chen Hong
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2017.0539
Subject(s) - kinematics , control theory (sociology) , benchmark (surveying) , path (computing) , controller (irrigation) , dynamics (music) , control (management) , computer science , scheme (mathematics) , control engineering , mathematics , engineering , artificial intelligence , physics , classical mechanics , acoustics , programming language , mathematical analysis , geodesy , agronomy , biology , geography
The authors investigate the control problem for autonomous vehicle with both the uncertain kinematics and dynamics. The authors propose a triple‐step control scheme to realise the objective of the path following irrespective of the uncertain kinematics and dynamics. The proposed control strategy has the desirable modularisation property that yields an explicit expression without the expense of complicated control structure. The performance of the proposed controller is shown by benchmark simulations.