Trajectory Tracking of 3D Autonomous Vehicles Using Backstepping Control

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-8954

K. L. Fetzer, S. Nersesov, H. Ashrafiuon

引用次数: 1

Abstract

In this paper, the authors derive backstepping control laws for tracking a time-based reference trajectory for a 3D model of an autonomous vehicle with two degrees of underactuation. Tracking all six degrees of freedom is made possible by a transformation that reduces the order of the error dynamics. Stability of the resulting error dynamics is proven and demonstrated in simulations.

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基于反步控制的3D自动驾驶汽车轨迹跟踪

在本文中，作者推导了用于跟踪具有2度欠驱动的自动驾驶汽车三维模型的基于时间的参考轨迹的反演控制律。通过降低误差动力学的阶数的转换，跟踪所有六个自由度成为可能。仿真结果证明了误差动力学的稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.