2020/03/13 by Yasir K. Al-Nadawi, Al-Nadawi, Yasir K., Hothaifa Al-Qassab +9
Engineering · #Autonomous Vehicle Technology and Safety #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Systems and Control (eess.SY) #Traffic control and management #Vehicle Dynamics and Control Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2003.06333
openalex publication_date 2020/03/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In the real-world, self-driving vehicles are required to achieve steering\nmaneuvers in both uncontrolled and uncertain environments while maintaining\nhigh levels of safety and passengers' comfort. Ignoring these requirements\nwould inherently cause a significant degradation in the performance of the\ncontrol system, and consequently, could lead to life-threatening scenarios. In\nthis paper, we present a robust path following control of a self-driving\nvehicle under mismatched perturbations due to the effect of parametric\nuncertainties, vehicle side-slip angle, and road banking. In particular, the\nproposed control framework includes two parts. The first part ensures that the\nlateral and the yaw dynamics behave with nominal desired dynamics by canceling\nundesired dynamics. The second part is composed of two extended high-gain\nobservers to estimate the system state variables and the perturbation terms.\nOur stability analysis of the closed-loop systems confirms exponential\nstability properties under the proposed control law. To validate the proposed\ncontrol system, the controller is implemented experimentally on an autonomous\nvehicle research platform and tested in different road conditions that include\nflat, inclined, and banked roads. The experimental results show the\neffectiveness of the controller, they also illustrate the capability of the\ncontroller in achieving comparable performance under inclined and banked roads\nas compared to flat roads under a range of longitudinal velocities.\n