Robust path-following control for articulated heavy-duty vehicles

Autor(es)

Barbosa, Filipe Marques ^[1] ; Marcos, Lucas Barbosa ^[1] ; da Silva, Maira Martins ^[2] ; Terra, Marco Henrique ^[1] ; Grassi Junior, Valdir ^[1]

Afiliação do(s) autor(es)

^[1] Univ Sao Paulo, Dept Elect & Comp Engn, Sao Carlos Sch Engn, Av Trabalhador Sao Carlense 400, BR-13566590 Sao Carlos, SP - Brazil

^[2] Univ Sao Paulo, Sao Carlos Sch Engn, Dept Mech Engn, Sao Carlos, SP - Brazil

• Tipo de documento: Artigo Científico
• Fonte: CONTROL ENGINEERING PRACTICE; v. 85, p. 246-256, APR 2019.
• Citações Web of Science: 0

Resumo

Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass variation. In addition, uncertainties on mass may have the potential to significantly decrease the performance of the system, even to the point of destabilising it. These parametric variations must be taken into account during the design of the controller. However, robust control techniques usually require offline adjustment of auxiliary tuning parameters, which is not practical, leading to sub-optimal operation. Hence, this paper presents an approach to path-following and lateral control for autonomous articulated heavy-duty vehicles subject to parametric uncertainties by using a robust recursive regulator. The main advantage of the proposed controller is that it does not depend on the offline adjustment of tuning parameters. Parametric uncertainties were assumed to be on the payload, and an H-infinity controller was used for performance comparison. The performance of both controllers is evaluated in a double lane-change manoeuvre. Simulation results showed that the proposed method had better performance in terms of robustness, lateral stability, driving smoothness and safety, which demonstrates that it is a very promising control technique for practical applications. (AU)

• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Linha de fomento: Auxílio à Pesquisa - Temático