Adaptive Sliding Mode Fault Tolerant Control for Autonomous Vehicle With Unknown Actuator Parameters and Saturated Tire Force Based on the Center of Percussion

With consideration of tire force saturation in vehicle motions, a novel path-following controller is developed for autonomous vehicles with unknown-bound disturbances and unknown actuator parameters. An adaptive sliding-mode fault-tolerant control (ASM-FTC) strategy is designed to stabilize the path...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2023-11, Vol.24 (11), p.1-12
Main Authors: Liang, Zhongchao, Shen, Mingyu, Zhao, Jing, Li, Zhongguo, Wang, Yongfu, Ding, Zhengtao
Format: Article
Language:English
Subjects:
Actuators
Adaptive control
autonomous vehicle
Autonomous vehicles
bound-unknown disturbances
Boundaries
Center of gravity
Controllers
Dynamics
Fault tolerance
Force
Friction
friction limits
Parameters
Path following
Percussion
Sliding mode control
Steering wheels
Tire force
tire force saturation
Tires
Tracking control
unknown steering ratio
Vehicle dynamics
Wheels
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Summary:With consideration of tire force saturation in vehicle motions, a novel path-following controller is developed for autonomous vehicles with unknown-bound disturbances and unknown actuator parameters. An adaptive sliding-mode fault-tolerant control (ASM-FTC) strategy is designed to stabilize the path-following errors without any information of disturbance boundaries, actuator fault boundaries and steering ratio from the steering wheel to the front wheels. By selecting the distance from the center of gravity to the center of percussion as the preview length, the effects of the lateral rear-tire force are decoupled and cancelled out, and then the preview error, which represents the path-following performance, can be only commanded by the front-tire force. To further address the issue of unknown tire-road friction limits, a modified ASM-FTC strategy is presented to improve the path-following performance as the lateral tire force is saturated. Simulation results show that the modified ASM-FTC controller demonstrates superior tracking performance over the normal ASM-FTC while the autonomous vehicle follows desired paths.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2023.3289439