Integrated adaptive dynamic surface car-following control for nonholonomic autonomous electric vehicles

In this paper,the car-following control problem of nonholonomic autonomous electric vehicles in the curved highway is studied.Owing to the fact that the nonholonomic autonomous electric vehicles have the features of strong coupling,parametric uncertainties,nonlinearities and external disturbances,a novel integrated adaptive car-following control system is constructed to supervise the longitudinal and lateral motions of vehicles.Firstly,an adaptive fuzzy dynamic surface car-following control strategy is presented to determine a vector of total forces and torque of autonomous electric vehicles,which can guarantee the uniform ultimate boundedness of close-loop control signals.Then,an optimal tire forces distribution law is proposed to dynamically allocate the desired coupled tire longitudinal and lateral forces in real-time.Finally,simulation results illustrate the effectiveness and robustness of the proposed car-following control approach.