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首页> 外文会议>International Conference on Electrical Sciences and Technologies in Maghreb >Autonomous Vehicle Path Tracking Using Nonlinear Steering Control and Input-Output State Feedback Linearization.
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Autonomous Vehicle Path Tracking Using Nonlinear Steering Control and Input-Output State Feedback Linearization.

机译：使用非线性转向控制和输入输出状态反馈线性化的自主车辆路径跟踪。

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摘要

Autonomous vehicle trajectory tracking field has known a large development in the last previous years especially with the appearance of new efficient control technics. In this paper a new designed controller is used to control the vehicle motion through a predetermined path that considers a different driving scenarios representing a real world driving. In the first part of the work, a nonlinear controller that contains a relationship between lateral errors, heading error and vehicle velocity is designed to generate a suitable steering angle for the vehicle to achieve a good performance in term of path following with minimum distance error. The proposed controller is validated by simulation under different fixed velocities values. In the second part of work, the Input-Output state feedback linearization strategy is used to generate a linear velocity which is used in combination with the obtained steering angle to control the vehicle motion and to minimize the lateral error. The obtained results show a good performance with small distance error compared with the fixed velocities. The stability of the system has been verified using Lyapunov approach.
机译：在过去的几年中，特别是随着新的高效控制技术的出现，自动驾驶车辆的轨迹跟踪领域有了很大的发展。在本文中，新设计的控制器用于通过预定路径控制车辆运动，该路径考虑了代表现实世界驾驶的不同驾驶场景。在工作的第一部分中，设计了一个非线性控制器，该控制器包含侧向误差，航向误差和车速之间的关系，可为车辆生成合适的转向角，从而以最小的距离误差在路径跟随方面实现良好的性能。通过仿真在不同的固定速度值下对提出的控制器进行了验证。在工作的第二部分中，使用输入-输出状态反馈线性化策略来生成线速度，该线速度与所获得的转向角结合使用，以控制车辆运动并使横向误差最小化。与固定速度相比，所获得的结果显示出良好的性能，且距离误差较小。系统的稳定性已使用Lyapunov方法进行了验证。

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