Finite-Time Motion Control with Full-State Constraints for Autonomous Ground Vehicles on Curved Roads

Abstract

In this paper, an autonomous ground vehicle (AGV) motion system is developed considering full-state constraints by a Barrier Lyapunov functions (BLF) based finite-time motion control scheme. A BLF-based finite-time lateral controller is designed for the lateral subsystem in the AGV motion system with full-state constraints. A BLF-based finite-time longitudinal controller is proposed to limit the control deviation within a constraint for the longitudinal subsystem in the AGV motion system. Two nonlinear observers are designed to estimate the unmodeled dynamics in the lateral subsystem and the longitudinal subsystem of the AGV motion system. Effectiveness of the finite-time motion control scheme with full-state constraints is displayed by experimental results on an AGV experimental platform.