RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

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RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance. / Hu, Chuan; Gao, Hongbo; Guo, Jinghua; Taghavifar, Hamid; Qin, Yechen; Na, Jing; Wei, C.

In: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 12.11.2019, p. 1-13.

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@article{745f3223f2814b1ea664b35526ac93df,
title = "RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance",
abstract = "This article investigates the integrated lane-keeping and roll control for autonomous ground vehicles (AGVs) considering the transient performance and system disturbances. The robust integral of the sign of error (RISE) control strategy is proposed to achieve the lane-keeping control purpose with rollover prevention, by guaranteeing the asymptotic stability of the closed-loop system, attenuating systematic disturbances, and maintaining the controlled states within the prescribed performance boundaries. Three contributions have been made in this article: 1) a new prescribed performance function (PPF) that does not require accurate initial errors is proposed to guarantee the tracking errors restricted within the predefined asymptotic boundaries; 2) a modified neural network (NN) estimator which requires fewer adaptively updated parameters is proposed to approximate the unknown vertical dynamics; and 3) the improved RISE control based on PPF is proposed to achieve the integrated control objective, which analytically guarantees both the controller continuity and closed-loop system asymptotic stability by integrating the signum error function. The overall system stability is proved with the Lyapunov function. The controller effectiveness and robustness are finally verified by comparative simulations using two representative driving maneuvers, based on the high-fidelity CarSim-Simulink simulation.",
author = "Chuan Hu and Hongbo Gao and Jinghua Guo and Hamid Taghavifar and Yechen Qin and Jing Na and C. Wei",
year = "2019",
month = nov,
day = "12",
doi = "10.1109/tsmc.2019.2950468",
language = "English",
pages = "1--13",
journal = "IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans",
issn = "1083-4427",
publisher = "IEEE",

}

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TY - JOUR

T1 - RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

AU - Hu, Chuan

AU - Gao, Hongbo

AU - Guo, Jinghua

AU - Taghavifar, Hamid

AU - Qin, Yechen

AU - Na, Jing

AU - Wei, C.

PY - 2019/11/12

Y1 - 2019/11/12

N2 - This article investigates the integrated lane-keeping and roll control for autonomous ground vehicles (AGVs) considering the transient performance and system disturbances. The robust integral of the sign of error (RISE) control strategy is proposed to achieve the lane-keeping control purpose with rollover prevention, by guaranteeing the asymptotic stability of the closed-loop system, attenuating systematic disturbances, and maintaining the controlled states within the prescribed performance boundaries. Three contributions have been made in this article: 1) a new prescribed performance function (PPF) that does not require accurate initial errors is proposed to guarantee the tracking errors restricted within the predefined asymptotic boundaries; 2) a modified neural network (NN) estimator which requires fewer adaptively updated parameters is proposed to approximate the unknown vertical dynamics; and 3) the improved RISE control based on PPF is proposed to achieve the integrated control objective, which analytically guarantees both the controller continuity and closed-loop system asymptotic stability by integrating the signum error function. The overall system stability is proved with the Lyapunov function. The controller effectiveness and robustness are finally verified by comparative simulations using two representative driving maneuvers, based on the high-fidelity CarSim-Simulink simulation.

AB - This article investigates the integrated lane-keeping and roll control for autonomous ground vehicles (AGVs) considering the transient performance and system disturbances. The robust integral of the sign of error (RISE) control strategy is proposed to achieve the lane-keeping control purpose with rollover prevention, by guaranteeing the asymptotic stability of the closed-loop system, attenuating systematic disturbances, and maintaining the controlled states within the prescribed performance boundaries. Three contributions have been made in this article: 1) a new prescribed performance function (PPF) that does not require accurate initial errors is proposed to guarantee the tracking errors restricted within the predefined asymptotic boundaries; 2) a modified neural network (NN) estimator which requires fewer adaptively updated parameters is proposed to approximate the unknown vertical dynamics; and 3) the improved RISE control based on PPF is proposed to achieve the integrated control objective, which analytically guarantees both the controller continuity and closed-loop system asymptotic stability by integrating the signum error function. The overall system stability is proved with the Lyapunov function. The controller effectiveness and robustness are finally verified by comparative simulations using two representative driving maneuvers, based on the high-fidelity CarSim-Simulink simulation.

U2 - 10.1109/tsmc.2019.2950468

DO - 10.1109/tsmc.2019.2950468

M3 - Article

SP - 1

EP - 13

JO - IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans

JF - IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans

SN - 1083-4427

ER -