NDLI: Adaptive dynamic surface longitudinal tracking control of autonomous vehicles

Content Provider	IET Digital Library
Author	Guo, Jinghua Luo, Yugong Li, Keqiang Guo, Lie
Abstract	Autonomous vehicles offer the opportunity of significant benefits to social life, such as improving safety, reducing crashes, decreasing fuel consumption and so on. This study presents a novel adaptive dynamic surface longitudinal tracking control strategy for autonomous vehicles to deal with the effects of non-linearities and parametric uncertainties of vehicles. First, a longitudinal vehicle model, which can describe the features of non-linear and external disturbances of autonomous vehicles, is established. Then, an adaptive dynamic surface longitudinal control system is proposed to avoid the explosion of complexity. In addition, an adaptive estimated approach based on neural networks technique is designed to approximate the model uncertainties of autonomous vehicles. The stability of the proposed adaptive control system is discussed by the Lyapunov theory. It has been illustrated for both simulation and experimental tests that the proposed adaptive control system has a remarkable longitudinal tracking performance of the autonomous vehicle.
Starting Page	1272
Ending Page	1280
Page Count	9
ISSN	1751956X
Volume Number	13
e-ISSN	17519578
Issue Number	Issue 8, Aug (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/13/8
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2018.5534
Journal	IET Intelligent Transport Systems
Publisher Date	2019-04-02
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Adaptive Dynamic Surface Longitudinal Control System Adaptive Dynamic Surface Longitudinal Tracking Control Strategy Autonomous Vehicle Control System Analysis Control System Synthesis Longitudinal Vehicle Model Lyapunov Method Neurocontrol Neurocontrollers Nonlinear Control System Road Safety Road Traffic System Control Self Adjusting Control System Spatial Variables Control Stability Stability in Control Theory Synthesis Method
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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