Prescribed Performance Path Following for Self-Driving Vehicles Considering Parametric Uncertainties
To ensure path tracking control precision in self-driving vehicles with uncertain parameters,the paper proposes an output-feedback control method with the prescribed control performance criteria.Firstly,by constructing the lateral offset error at the driver's preview point,a second-order error integration system is established.Considering the unknown lateral velocity and perturbation in the tire cornering stiffness,a control model containing lumped unknown states is established by using the extended state method.The unknown states of the system are obtained by designing a linear extended state observer and the uniformly bounded convergence of the observation error is further proved.Then,to address the issue that the transient and steady-state performance of vehicles cannot meet the predefined accuracies,an output feedback path following controller with prescribed performance is proposed,incorporating observer estimations.The stability of the closed-loop system is rigorously proved based on the Lyapunov theory.Finally,Matlab/Simulink simulation results show that the designed control strategy effectively tracks the reference path with the desired accuracy.Moreover,the proposed control method is further verified via the hardware-in-the-loop experiment and the results show that the lateral tracking errors are consistently maintained within the predefined safety range with strong robustness.
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