Scholarlink

This article studies control systems for an automatic lane change system for autonomous vehicles. In this study, a control law is based on a backstepping techniques (BSP) using barrier Lyapunov function (BLF) to constrain the tracking error to be limited within a predefined range and avoid the chattering phenomenon. The slow and fast dynamics of the system are controlled separately by the proposed control technique following the model reduction approach. A conventional sliding mode controller is used as a standard controller to evaluate the proposed controller. Co-simulation based on CarSim and Matlab/Simulink are used to demonstrate the effectiveness and robustness. Performance index of autonomous vehicles such as IWPEI, ITAE, IAPE, and IASE is expressed to quantitatively evaluate the proposed control system.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Output Constrained Control Based Barrier Lyapunov Functions for Lateral Dynamics of Autonomous Vehicles

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Van Trung Nguyen,
  • Ngoc Chau Tran,
  • Tien Dung Nguyen,
  • Nhu Toan Nguyen,
  • Thanh Ha Vo,
  • Tung Lam Nguyen,
  • Duc Thinh Le

摘要

This article studies control systems for an automatic lane change system for autonomous vehicles. In this study, a control law is based on a backstepping techniques (BSP) using barrier Lyapunov function (BLF) to constrain the tracking error to be limited within a predefined range and avoid the chattering phenomenon. The slow and fast dynamics of the system are controlled separately by the proposed control technique following the model reduction approach. A conventional sliding mode controller is used as a standard controller to evaluate the proposed controller. Co-simulation based on CarSim and Matlab/Simulink are used to demonstrate the effectiveness and robustness. Performance index of autonomous vehicles such as IWPEI, ITAE, IAPE, and IASE is expressed to quantitatively evaluate the proposed control system.