Neuroadaptive Output Tracking of Fully Autonomous Road Vehicles

Intelligent vehicle control systems have been an area of discussion for the past few years. The trick in developing a successful algorithm for automated control lies not only in the focus on either pure longitudinal or pure lateral control, but also on the coupling effects as maneuvers tend to involve higher accelerations, larger tire forces , or reduced road friction. Dynamic coupling compensation significantly improves control performance.

Automated vehicle control systems are a key technology for intelligent vehicle highway systems (IVHSs). Sisil Kumarawadu of Academic Staff, University of Moratuwa and Tsu-Tian Lee presents an automated vehicle control algorithm for combined longitudinal and lateral motion control of highway vehicles, with special emphasis on front-wheel-steered four-wheel road vehicles. The controller is synthesized using an online neural-estimator-based control law that works in combination with a lateral velocity observer. The online adaptive neural-estimator-based design approach enables the controller to counteract for inherent model discrepancies, strong nonlinearities, and coupling effects. The neurocontrol approach can guarantee the uniform ultimate bounds (UUBs) of the tracking and observer errors and the bounds of the neural weights. The key design features are namely

  • Inherent coupling effects will be taken into account as a result of combining of the two control issues, viz., lateral and longitudinal control.
  • Rather ad hoc numerical approximations of lateral velocity will be avoided via a combined controller–observer design
  • Closed-loop stability issues of the overall system will be established.

The algorithm is validated via a formative mathematical analysis based on a Lyapunov approach and numerical simulations in the presence of parametric uncertainties, as well as severe and adverse driving conditions.Further Information about this research can be found at the IEEE Journal TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS

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