scholarly journals HFO-LADRC Lateral Motion Controller for Autonomous Road Sweeper

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2274 ◽  
Author(s):  
Dequan Zeng ◽  
Zhuoping Yu ◽  
Lu Xiong ◽  
Zhiqiang Fu ◽  
Zhuoren Li ◽  
...  
Keyword(s):  
Gaussian White Noise ◽  
Lateral Motion ◽  
Motion Controller ◽  
Lateral Control ◽  
Lane Changing ◽  
First Order ◽  
Runge Kutta Method ◽  
Pure Pursuit ◽  
Lateral Error ◽  
Solution Accuracy

How to make a controller robust and stable to reject the disturbance of uncertainty is an inevitable challenge. Aiming at addressing the lateral control problem for an autonomous road sweeper, a heading-error-based first order linear active disturbance rejective controller (HFO-LADRC) is proposed in this paper. To eliminate the lateral error and the heading error at the same time, a new model, called the heading-error-based model, is proposed for lateral motion, and the Lyapunov function was employed to explore the convergence ability of the heading error and lateral error. Since the heading-error-based model is first order, the ADRC is designed as first order and linear, and each module of the HFO-LADRC has been devised in detail. To ensure solution accuracy, the fourth order Runge–Kutta method was adopted as the differential system solver, and a typical ring scenario and a double lane-changing scenario were designed referencing the standard. Considering the obvious influence, wheelbase uncertainty, steering ratio uncertainty and Gaussian white noise disturbance were taken into account for the tests. The results illustrate that, in the case of both wheelbase uncertainty and steer ratio uncertainty, the HFO-LADRC has strong robustness and stability compared with a typical pure pursuit controller and classical SO-LADRC.

Lateral obstacle avoidance control based on driving behavior recognition of the preceding vehicles in adjacent lanes

2020 ◽  
Vol 68 (10) ◽  
pp. 880-892
Author(s):  
Youguo He ◽  
Xing Gong ◽  
Chaochun Yuan ◽  
Jie Shen ◽  
Yingkui Du
Keyword(s):  
Obstacle Avoidance ◽  
Lateral Displacement ◽  
Longitudinal Velocity ◽  
Driving Behavior ◽  
Lateral Acceleration ◽  
Lateral Motion ◽  
Behavior Recognition ◽  
Dynamic Surface ◽  
Lane Changing ◽  
The Impact

AbstractThis paper proposes a lateral lane change obstacle avoidance constraint control simulation algorithm based on the driving behavior recognition of the preceding vehicles in adjacent lanes. Firstly, the driving behavior of the preceding vehicles is recognized based on the Hidden Markov Model, this research uses longitudinal velocity, lateral displacement and lateral velocity as the optimal observation signals to recognize the driving behaviors including lane-keeping, left-lane-changing or right-lane-changing; Secondly, through the simulation of the dangerous cutting-in behavior of the preceding vehicles in adjacent lanes, this paper calculates the ideal front wheel steering angle according to the designed lateral acceleration in the process of obstacle avoidance, designs the vehicle lateral motion controller by combining the backstepping and Dynamic Surface Control, and the safety boundary of the lateral motion is constrained based on the Barrier Lyapunov Function; Finally, simulation model is built, and the simulation results show that the designed controller has good performance. This active safety technology effectively reduces the impact on the autonomous vehicle safety when the preceding vehicle suddenly cuts into the lane.

scholarly journals Numerical Study on Phase-Fitted and Amplification-Fitted Diagonally Implicit Two Derivative Runge-Kutta Method for Periodic IVPS

2021 ◽  
Vol 50 (6) ◽  
pp. 1799-1814
Author(s):  
Norazak Senu ◽  
Nur Amirah Ahmad ◽  
Zarina Bibi Ibrahim ◽  
Mohamed Othman
Keyword(s):  
Fourth Order ◽  
Initial Value Problems ◽  
Numerical Experiments ◽  
Numerical Study ◽  
Kutta Method ◽  
Initial Value ◽  
First Order ◽  
Runge Kutta Method ◽  
Runge Kutta ◽  
The Stability

A fourth-order two stage Phase-fitted and Amplification-fitted Diagonally Implicit Two Derivative Runge-Kutta method (PFAFDITDRK) for the numerical integration of first-order Initial Value Problems (IVPs) which exhibits periodic solutions are constructed. The Phase-Fitted and Amplification-Fitted property are discussed thoroughly in this paper. The stability of the method proposed are also given herewith. Runge-Kutta (RK) methods of the similar property are chosen in the literature for the purpose of comparison by carrying out numerical experiments to justify the accuracy and the effectiveness of the derived method.

scholarly journals Lateral control of an autonomous vehicle using integrated backstepping and sliding mode controller

2018 ◽  
Vol 233 (1) ◽  
pp. 141-151 ◽  
Author(s):  
Armin Norouzi ◽  
Milad Masoumi ◽  
Ali Barari ◽  
Saina Farrokhpour Sani
Keyword(s):  
Optimization Algorithm ◽  
Sliding Mode ◽  
Autonomous Vehicle ◽  
Lane Change ◽  
Lateral Control ◽  
Lane Changing ◽  
Dynamic Constraints ◽  
Bicycle Model ◽  
Double Lane Change ◽  
Backstepping Controller

In this paper, a novel Lyapunov-based robust controller by using meta-heuristic optimization algorithm has been proposed for lateral control of an autonomous vehicle. In the first step, double lane change path has been designed using a fifth-degree polynomial (quantic) function and dynamic constraints. A lane changing path planning method has been used to design the double lane change manoeuvre. In the next step, position and orientation errors have been extracted based on the two-degree-of-freedom vehicle bicycle model. A combination of sliding mode and backstepping controllers has been used to control the steering in this paper. Overall stability of the combined controller has been analytically proved by defining a Lyapunov function and based on Lyapunov stability theorem. The proposed controller includes some constant parameters which have effects on controller performance; therefore, particle swarm optimization algorithm has been used for finding optimum values of these parameters. The comparing result of the proposed controller with backstepping controller illustrated the better performance of the proposed controller, especially in the low road frictions. Simulation of designed controllers has been conducted by linking CarSim software with Matlab/Simulink which provides a nonlinear full vehicle model. The simulation was performed for manoeuvres with different durations and road frictions. The proposed controller has outperformed the backstepping controller, especially in low frictions.

scholarly journals Phase-Fitted and Amplification-Fitted Higher Order Two-Derivative Runge-Kutta Method for the Numerical Solution of Orbital and Related Periodical IVPs

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
N. A. Ahmad ◽  
N. Senu ◽  
F. Ismail
Keyword(s):  
Numerical Solution ◽  
Numerical Experiments ◽  
Initial Value ◽  
Oscillatory Solutions ◽  
First Order ◽  
Runge Kutta Method ◽  
Algebraic Order ◽  
Runge Kutta ◽  
The Stability ◽  
Order Four

A phase-fitted and amplification-fitted two-derivative Runge-Kutta (PFAFTDRK) method of high algebraic order for the numerical solution of first-order Initial Value Problems (IVPs) which possesses oscillatory solutions is derived. We present a sixth-order four-stage two-derivative Runge-Kutta (TDRK) method designed using the phase-fitted and amplification-fitted property. The stability of the new method is analyzed. The numerical experiments are carried out to show the efficiency of the derived methods in comparison with other existing Runge-Kutta (RK) methods.

scholarly journals Lateral control strategy for a hypersonic cruise missile

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141769914 ◽  
Author(s):  
Yonghua Fan ◽  
Pengpeng Yan ◽  
Hongyang Xu ◽  
Fan Wang
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Controller Design ◽  
Roll Angle ◽  
Cruise Missile ◽  
Lateral Motion ◽  
Lateral Control ◽  
Optimal Control Method ◽  
Multiple Input ◽  
Combined Control

Hypersonic cruise missile always adopts the configuration of waverider body with the restraint of scramjet. As a result, the lateral motion exhibits serious coupling, and the controller design of the lateral lateral system cannot be conducted separately for yaw channel and roll channel. A multiple input and multiple output optimal control method with integrators is presented to design the lateral combined control system for hypersonic cruise missile. A hypersonic cruise missile lateral model is linearized as a multiple input and multiple output plant, which is coupled by kinematics and fin deflection between yaw and roll. In lateral combined controller, the integrators are augmented, respectively, into the loop of roll angle and lateral overload to ensure that the commands are tracked with zero steady-state error. Through simulation, the proposed controller demonstrates good performance in tracking the command of roll angle and lateral overload.

scholarly journals Software for the numerical solution of first-order partial differential equations

2019 ◽  
Vol 27 (1) ◽  
pp. 42-48
Author(s):  
Yaroslav Yu Kuziv
Keyword(s):  
Partial Differential Equations ◽  
Differential Equations ◽  
Computer Algebra ◽  
Partial Differential ◽  
First Order ◽  
Modern Computer ◽  
Runge Kutta Method ◽  
The Media ◽  
Cauchy Method ◽  
Analytical Expressions

Partial differential equations of the first order, arising in applied problems of optics and optoelectronics, often contain coefficients that are not defined by a single analytical expression in the entire considered domain. For example, the eikonal equation contains the refractive index, which is described by various expressions depending on the optical properties of the media that fill the domain under consideration. This type of equations cannot be analysed by standard tools built into modern computer algebra systems, including Maple.The paper deals with the adaptation of the classical Cauchy method of integrating partial differential equations of the first order to the case when the coefficients of the equation are given by various analytical expressions in the subdomains G1, . . . , Gk , into which the considered domain is divided. In this case, it is assumed that these subdomains are specified by inequalities. This integration method is implemented as a Python program using the SymPy library. The characteristics are calculatednumerically using the Runge-Kutta method, but taking into account the change in the expressions for the coefficients of the equation when passing from one subdomain to another. The main functions of the program are described, including those that can be used to illustrate the Cauchy method. The verification was carried out by comparison with the results obtained in the Maple computer algebra system.

scholarly journals Substantiating parameters brake system of the tractor trailer

2021 ◽  
Vol 264 ◽  
pp. 04019
Author(s):  
Abdulaziz Shermukhamedov ◽  
Nurillo Ergashev ◽  
Abdukhamid Azizov
Keyword(s):  
Differential Equations ◽  
Experimental Studies ◽  
Brake System ◽  
Control Line ◽  
Pneumatic Drive ◽  
Order Accuracy ◽  
Euler’S Method ◽  
First Order ◽  
Runge Kutta Method ◽  
Dynamic Circuits

The article discusses substantiating the parameters brake system of a tractor-trailer (TT). The section offers a comparative analysis of theoretical and experimental studies of the TT brake drive and the parameters of its elements. Based on that, ordinary differential equations were solved by the Runge - Kutta method, the first-order accuracy (Euler's method). To solve partial differential equations, we used a modified Lax - Wendroff scheme. The results were obtained using the methods described above are theoretically very consistent with the triggering time ts = 0.47 s and the experimental value 0.46 s. Thus, the studying dynamic circuits of the pneumatic drive of TT brakes showed a high converging theoretical characteristic for a typical control line of a drive with an accelerating valve with experimental data, and the error was no more than 5%.

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