25권 2호 249-260 2024 [IJAT]
| 제목 | Internal Model-Based Robust Path-Following Control for Autonomous Vehicles |
|---|---|
| 분야 | ADAS, AI, Autonomous Vehicles |
| 언어 | English |
| 저자 | Adorján Kovács(Budapest University of Technology and Economics), István Vajk(Budapest University of Technology and Economics) |
| Key Words | Path-tracking control · Robust control · Convex optimization · Autonomous vehicles · Nonlinear control |
| 초록 |
The paper presents a new internal model control (IMC) based control technique for lateral trajectory tracking of autonomous vehicles. The controller’s proposed structure employs a robust, fault-tolerant nonlinear internal servo control with optimal reference generation concerning vehicle yaw stability and physical limitations. The presented inscription of the reference generation creates a convex optimization task that can be used in real-time applications. Improvements in yaw-rate stability of vehicle motion control are fi rst shown through simulation results performed in a Simulink environment. The controller structure was also implemented in a real-time model and was examined in a Mercedes C-Class vehicle. In this article, the simulation results and the real-time measurements are presented. The results show that the proposed controller has high effi ciency in disturbance rejection and lower sensitivity towards parameter changes compared to a model predictive control (MPC) structure. |
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