Abstract
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.
Original language | English |
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Article number | 8878003 |
Pages (from-to) | 4808-4821 |
Number of pages | 14 |
Journal | IEEE Transactions on Intelligent Transportation Systems |
Volume | 21 |
Issue number | 11 |
DOIs | |
Publication status | Published - Nov 2020 |
Keywords
- cascaded system
- Control algorithm
- longitudinal and lateral control
- observer
- vehicle platooning