Direct adaptive control for lane keeping in intelligent vehicle systems

被引：8
|
作者：
张京明 [1 ]
任殿波 [1 ]
崔胜民 [1 ]
张继业 [2 ]
机构：
[1] School of Automotive Engineering, Harbin Institute of Technology at Weihai
[2] State Key Laboratory of Traction Power, Southwest Jiaotong
来源：
Journal of Harbin Institute of Technology | 2009年 / 16卷 / 06期
关键词：
D O I：
暂无
中图分类号：
U463.6 [电气设备及附件];
学科分类号：
摘要：
In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehicle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-ahead references systems. The stability of the system is investigated from the zero dynamics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle error and slip angle are fast.
引用
收藏
页码：810 / 814
页数：5
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