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access icon free Adaptive non-linear trajectory tracking control for lane change of autonomous four-wheel independently drive electric vehicles

  • Author(s): Jinghua Guo 1 ; Yugong Luo 2 ; Keqiang Li 2
    • View affiliations
  • Source: Volume 12, Issue 7, September 2018, p. 712 – 720
    DOI:  10.1049/iet-its.2017.0278 , Print ISSN 1751-956X, Online ISSN 1751-9578
© The Institution of Engineering and Technology
Received 15/09/2017, Accepted 05/04/2018, Revised 07/02/2018, Published 09/04/2018

Since autonomous four-wheel independently drive electric vehicles have the characteristics of parameter uncertainties, non-linearities and redundant actuators, trajectory tracking control for lane change of autonomous electric vehicles is regarded as a challenging task. A novel non-linear trajectory tracking control strategy is designed for lane changing manoeuvre. First, a dynamic trajectory planning strategy is proposed to update the desired trajectory according to the real-time information acquired through vehicle-to-vehicle communications. Second, a robust adaptive non-linear fuzzy backstepping controller is presented to produce the generalised forces/moment of autonomous electric vehicles, and the stability of this proposed adaptive controller is proven by the Lyapunov theory. Then, the quadratic optimisation goal function of tire energy dissipated power is constructed, and the optimal control allocation method is proposed to produce the desired longitudinal and lateral tire forces of autonomous electric vehicles. Finally, simulation results manifest that the proposed adaptive control strategy has the distinguished tracking performance.

Inspec keywords: nonlinear control systems; adaptive control; electric vehicles; fuzzy control; control nonlinearities; Lyapunov methods; vehicular ad hoc networks; quadratic programming; robust control; trajectory control; path planning; optimal control; wheels

Other keywords: tire energy dissipated power; adaptive nonlinear trajectory tracking control strategy; vehicle-to-vehicle communications; redundant actuators; robust adaptive nonlinear fuzzy backstepping controller; dynamic trajectory planning strategy; lane changing manoeuvre; parameter uncertainties characteristics; autonomous four-wheel independently drive electric vehicles; Lyapunov theory; quadratic optimisation goal function; optimal control allocation method

Subjects: Fuzzy control; Transportation; Optimal control; Optimisation techniques; Nonlinear control systems; Stability in control theory; Transportation system control; Optimisation techniques; Self-adjusting control systems; Spatial variables control

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