Extended Look-Ahead Tracking Controller With Orientation-Error Observer for Vehicle Platooning

This paper presents a novel extended look-ahead concept of an integrated lateral and longitudinal vehicle following controller with an orientation-error observer. The control law is based on input-output feedback to address a local tracking problem. It is known that due to the position control in th...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2020-11, Vol.21 (11), p.4808-4821
Main Authors: Bayuwindra, Anggera, Lefeber, Erjen, Ploeg, Jeroen, Nijmeijer, Henk
Format: Article
Language:English
Subjects:
cascaded system
Control algorithm
Control theory
Controllers
Dynamic stability
Error analysis
longitudinal and lateral control
Mobile robots
observer
Observers
Orientation
Output feedback
Platooning
Radar tracking
Stability analysis
Tracking control
Tracking errors
Tracking problem
Trajectory
Trajectory tracking
Vehicle dynamics
vehicle platooning
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents a novel extended look-ahead concept of an integrated lateral and longitudinal vehicle following controller with an orientation-error observer. The control law is based on input-output feedback to address a local tracking problem. It is known that due to the position control in the look-ahead approach, the follower vehicle may cut corners. To address this problem, a reference-induced extended look-ahead tracking point is introduced such that the cutting-corner is compensated. Moreover, the stability of the internal dynamics is analyzed. To address the situation where the orientation tracking error is not measurable or corrupted by noise, an orientation-error observer, constructed from the position tracking error, is designed. The performance of the extended look-ahead controller and the orientation-error observer is investigated by means of a simulation study, and validated with experiments on a mobile robot platform.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2019.2947348