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

Anggera Bayuwindra; Erjen Lefeber; Jeroen Ploeg; Henk Nijmeijer

doi:10.1109/TITS.2019.2947348

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

Anggera Bayuwindra, Erjen Lefeber, Jeroen Ploeg, Henk Nijmeijer

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23 Citations (Scopus)

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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
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	https://doi.org/10.1109/TITS.2019.2947348
Publication status	Published - Nov 2020

Funding

Manuscript received September 4, 2018; revised February 28, 2019, July 16, 2019, and September 20, 2019; accepted October 2, 2019. Date of publication October 21, 2019; date of current version October 30, 2020. This work was supported by the Indonesian Ministry of Finance through the Indonesia Endowment Fund for Education under Grant S-218/LPDP/2013. The Associate Editor for this article was D. F. Wolf. (Corresponding author: Anggera Bayuwindra.) A. Bayuwindra, E. Lefeber, and H. Nijmeijer are with the Mechanical Engineering Department, Eindhoven University of Technology, 5612 AZ Eindhoven, The Netherlands (e-mail: [email protected]; [email protected]; [email protected]).

Keywords

cascaded system
Control algorithm
longitudinal and lateral control
observer
vehicle platooning

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10.1109/TITS.2019.2947348

08878003Final published version, 3.61 MBLicence: TAVERNE

Cite this

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title = "Extended Look-Ahead Tracking Controller with Orientation-Error Observer for Vehicle Platooning",

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. ",

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AB - 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.

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

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