Paper Info
Title
Comparison of two non-linear model-based control strategies for autonomous vehicles.
Abstract
This paper presents the comparison of two non-linear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using this approach, the error dynamics model is developed. Both controllers receive as input the longitudinal, lateral and orientation errors generating as control outputs the steering angle and the velocity of the vehicle. The first control approach is based on a non-linear control law that is designed by means of the Lyapunov direct approach. The second approach is based on a sliding mode-control that defines a set of sliding surfaces over which the error trajectories will converge. The main advantage of the sliding-control technique is the robustness against non-linearities and parametric uncertainties in the model. However, the main drawback of first order sliding mode is the chattering, so it has been implemented a high order sliding mode control. To test and compare the proposed control strategies, different path following scenarios are used in simulation.
Year
Venue
Field
2017
Mediterranean Conference on Control and Automation
Lyapunov function,Direct method,Computer science,Control theory,First order,Robustness (computer science),Control engineering,Parametric statistics,Non linear model,Variable structure control,Sliding mode control
DocType
Volume
ISSN
Journal
abs/1710.03457
2325-369X
Citations 
PageRank 
References 
0
0.34
2
Authors
7
Name
Order
Citations
PageRank
Eugenio Alcalá100.34
Laura Sellart2772.38
Vicenç Puig332557.80
Quevedo J.410518.30
Jordi Saludes540.79
David Vázquez648828.04
Antonio M. López773954.13