标题：Asymptotic tracking control of 4WS vehicles based on virtual points
作者：Chen, Changfang ;Shu, Minglei ;Liu, Ruixia
作者机构：[Chen, Changfang ;Shu, Minglei ] Shandong Provincial Key Laboratory of Computer Network, Shandong Computer Science Center (National Supercomputing Cen 更多
会议名称：2014 IEEE Transportation Electrification Conference and Expo, ITEC Asia-Pacific 2014
会议日期：August 31, 2014 - September 3, 2014
来源：IEEE Transportation Electrification Conference and Expo, ITEC Asia-Pacific 2014 - Conference Proceedings
摘要：This paper considers the lateral and longitudinal path tracking control of four-wheel steering vehicles. By introducing the virtual points, a robust adaptive path tracking control strategy is proposed to simultaneously counteract modeling uncertainties, unexpected disturbances, and coupling effects. An adaptive model-based feedforward adaptive term and the robust integral of the sign of the error (RISE) feedback term are used to yield an asymptotic tracking result, which improve the tracking performance and reduce the control effort. The stability of closed-loop system is analyzed using a Lyapunov method. Simulation results are included to illustrate the proposed control scheme.
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