Since autonomous four-wheel independently drive electric vehicles have the characteristics of parameter uncertainties, non-linearities and redundant actuators, trajectory tracking control for lane change of autonomous electric vehicles is regarded as a challenging task. A novel non-linear trajectory tracking control strategy is designed for lane changing manoeuvre. First, a dynamic trajectory planning strategy is proposed to update the desired trajectory according to the real-time information acquired through vehicle-to-vehicle communications. Second, a robust adaptive non-linear fuzzy backstepping controller is presented to produce the generalised forces/moment of autonomous electric vehicles, and the stability of this proposed adaptive controller is proven by the Lyapunov theory. Then, the quadratic optimisation goal function of tire energy dissipated power is constructed, and the optimal control allocation method is proposed to produce the desired longitudinal and lateral tire forces of autonomous electric vehicles. Finally, simulation results manifest that the proposed adaptive control strategy has the distinguished tracking performance.
Adaptive non-linear trajectory tracking control for lane change of autonomous four-wheel independently drive electric vehicles
IET Intelligent Transport Systems ; 12 , 7 ; 712-720
2018-05-10
9 pages
Article (Journal)
Electronic Resource
English
parameter uncertainties characteristics , optimal control , wheels , adaptive nonlinear trajectory tracking control strategy , vehicular ad hoc networks , vehicle-to-vehicle communications , Lyapunov theory , control nonlinearities , optimal control allocation method , redundant actuators , quadratic programming , robust adaptive nonlinear fuzzy backstepping controller , nonlinear control systems , adaptive control , robust control , Lyapunov methods , electric vehicles , autonomous four-wheel independently drive electric vehicles , dynamic trajectory planning strategy , quadratic optimisation goal function , trajectory control , path planning , fuzzy control , tire energy dissipated power , lane changing manoeuvre
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