Skip to Main content Skip to Navigation
Journal articles

Robust anti-sliding control of autonomous vehicles in presence of lateral disturbances

Abstract : Path following control problem of autonomous vehicles is investigated, concerning both unmeasurable sliding effects and lateral disturbances which lead to some difficulties in designing autonomous control under complex environment. To deal with the sliding effects, sideslip angles are modeled and reconstructed by estimating the tire cornering stiffness, which plays important role in analyzing the sliding effects. To this end, a Luenberger-type observer is designed, which is able to identify the tire cornering stiffness adaptively even in presence of time-varying lateral disturbances. Furthermore, to guarantee high-precision guidance, a sliding mode controller is designed based on chained system theory, and this controller is shown to be robust to both the lateral disturbances and the inaccuracy of the sliding reconstruction. Simulations illustrate that the proposed methods can reconstruct the sliding angles and provide high-accuracy anti-sliding control even in presence of the time-varying lateral disturbances.
Document type :
Journal articles
Complete list of metadatas

https://hal.inria.fr/hal-02463478
Contributor : Philippe Martinet <>
Submitted on : Saturday, February 1, 2020 - 6:05:47 AM
Last modification on : Wednesday, September 9, 2020 - 10:50:20 AM

Identifiers

Citation

Hao Fang, Lihua Dou, Jie Chen, Roland Lenain, Benoît Thuilot, et al.. Robust anti-sliding control of autonomous vehicles in presence of lateral disturbances. Control Engineering Practice, Elsevier, 2011, 19 (5), pp.468-478. ⟨10.1016/j.conengprac.2011.01.008⟩. ⟨hal-02463478⟩

Share

Metrics

Record views

118