Adaptive Prescribed Performance Control of Autonomous Vehicles with Input Saturation

doi:10.12382/bgxb.2023.0963

Abstract

Abstract:

This paper aims to improve the transient and steady-state performances of autonomous vehicle systems with input saturation and unknown perturbations. Firstly, a coordinated controller based on the sliding mode control and the prescribed performance control is designed considering the coupling between the lateral and longitudinal motion dynamics. To address the possible input saturation, an auxiliary system is designed to adjust the prescribed performance boundaries when saturation occurs, so that the tracking errors always adhere to the performance constraint. Consequently, it avoids the possible instability when the errors cross the performance boundaries. Finally, the neural network is introduced to approximate and compensate for the model uncertainty and external interference, and an online identification scheme based on a composite learning algorithm is proposed to train the neural network. The stability of the closed-loop system is strictly proved by Lyapunov approach, and the effectiveness of the proposed identification and control scheme is verified by simulation. The coordinated controller can be used to ensure the prescribed trajectory tracking performance in the presence of strong coupling characteristics, model uncertainty, and external interference.

Key words: autonomous vehicle, input saturation, variable boundary prescribed performance control, neural network adaptive control

CLC Number:

TJ810.3⁺23

LI Xianyan, XU Wei, JIANG Lei, SUN Zeyuan, XIE Qiang, ZENG Yi, ZHENG Dongdong. Adaptive Prescribed Performance Control of Autonomous Vehicles with Input Saturation[J]. Acta Armamentarii, 2023, 44(11): 3310-3319.

Figures/Tables 8

Table 1 Vehicle parameters

参数	数值	参数	数值
m/kg	1770	I_z/(kg·m²)	3059
C_af/(N·rad^-1)	115000	C_ar/(N·rad^-1)	115000
A/m	1.2	b/m	1.4
K_F/m	10	L/m	5
v_x_,min/(m·s^-1)	0.3	v_x_,max/(m·s^-1)	30

Fig.1 Longitudinal position error

Fig.2 Lateral position error

Fig.3 Yaw angle error

Fig.4 Yaw angle tracking

Fig.5 Control input (steering angle of front wheel)

Fig.6 Control input (throttle/braking pedal force)

Fig.7 Tracking trajectory in geodetic coordinate systems

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