Asymptotically stable path following for lateral motion of an unmanned ground vehicle |
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| Affiliation: | 1. Eindhoven University of Technology, Department of Mechanical Engineering, Control Systems Technology Group, Eindhoven, The Netherlands;2. ASML, Research Mechatronics, Veldhoven, The Netherlands;1. Intelligent Automotive Systems Group, Precision and Microsystems Engineering Department, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands;2. Integrated Vehicle Safety Department, The Netherlands Organisation for Applied Scientific Research (TNO), Automotive Campus 30, 5708 JZ Helmond, The Netherlands;3. Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Via Ponzio 34/5, 20133 Milano, Italy;4. SKF Automotive Division, Nieuwegein 3430 DT, The Netherlands;1. Department of Astronautics, Electric Engineering and Energetics (DIAEE), University of Rome La Sapienza, Rome 00184, Italy;2. Department of Aerospace and Mechanical Engineering (DIMA), University of Rome La Sapienza, Rome 00184, Italy;1. Department of Mechanical Engineering of Biosystems, Urmia University, Urmia, Iran;2. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA |
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| Abstract: | This study proposes an asymptotically stable path following controller for autonomous navigation of an unmanned ground vehicle (UGV) using vector field and robust-integral-signum error (RISE) feedback. The path following controller is divided into two parts: one part generating a heading command and another part designing a robust control. To determine the reference heading command under various uncertainties, the vector field method is employed, and then the RISE feedback controller is designed to follow the heading command. Finally, experiments are conducted on paved and unpaved roads to validate the effectiveness of the proposed method. |
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| Keywords: | Unmanned ground vehicle Asymptotic stability Continuous control input RISE feedback Vector field |
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