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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：自动车辆路径跟踪使用非线性转向控制和输入 - 输出状态反馈线性化。

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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：自动车辆轨迹跟踪领域已知在过去的前几年的大型发展，特别是新的高效控制技术的外观。在本文中，新设计的控制器用于通过预定路径来控制车辆运动，该路径考虑代表真实世界驾驶的不同驾驶场景。在该工作的第一部分中，设计横向误差，出头误差和车辆速度之间的关系的非线性控制器，用于为车辆产生合适的转向角，以实现具有最小距离误差的路径期间的良好性能。所提出的控制器通过模拟在不同的固定速度值下进行验证。在工作的第二部分中，输入 - 输出状态反馈线性化策略用于产生线性速度，该线速度与所获得的转向角组合使用以控制车辆运动并最小化横向误差。与固定速度相比，所获得的结果显示出小距离误差的良好性能。使用Lyapunov方法验证了系统的稳定性。

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