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Nonlinear feedback control and trajectory tracking of vehicle

Author

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  • Younés Abbassi
  • Youcef Ait-Amirat
  • Rachid Outbib

Abstract

This paper mainly studies nonlinear feedback control applied to the nonlinear vehicle dynamics with varying velocity. The main objective of this study is the stabilisation of longitudinal, lateral and yaw angular vehicle velocities. To this end, a nonlinear vehicle model is developed which takes both the lateral and longitudinal vehicle dynamics into account. Based on this model, a method to build a nonlinear state feedback control is first designed by which the complexity of system structure can be simplified. The obtained system is then synthesised by the combined Lyapunov–LaSalle method. The simulation results show that the proposed control can improve stability and comfort of vehicle driving. Moreover, this paper presents a lemma which ensures the trajectory tracking and path-following problem for vehicle. It can also be exploited simultaneously to solve both the tracking and path-following control problems of the vehicle ride and driving stability. We also show how the results of the lemma can be applied to solve the path-following problem, in which the vehicle converges and follows a designed path. The effectiveness of the proposed lemma for trajectory tracking is clearly demonstrated by simulation results.

Suggested Citation

  • Younés Abbassi & Youcef Ait-Amirat & Rachid Outbib, 2015. "Nonlinear feedback control and trajectory tracking of vehicle," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(16), pages 2873-2886, December.
    • Handle: RePEc:taf:tsysxx:v:46:y:2015:i:16:p:2873-2886
    DOI: 10.1080/00207721.2014.880195
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    Cited by:

    1. Chen, Shi-An & Jiang, Xu-Dong & Yao, Ming & Jiang, Shun-Ming & Chen, Jinzhou & Wang, Ya-Xiong, 2020. "A dual vibration reduction structure-based self-powered active suspension system with PMSM-ball screw actuator via an improved H2/H∞ control," Energy, Elsevier, vol. 201(C).
    2. Shuo Zhang & Xuan Zhao & Guohua Zhu & Peilong Shi & Yue Hao & Lingchen Kong, 2020. "Adaptive trajectory tracking control strategy of intelligent vehicle," International Journal of Distributed Sensor Networks, , vol. 16(5), pages 15501477209, May.

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