Nonlinear feedback control and trajectory tracking of vehicle

Younés Abbassi, Youcef Ait-Amirat and Rachid Outbib

International Journal of Systems Science, 2015, vol. 46, issue 16, 2873-2886

Abstract: This paper mainly studies nonlinear feedback control applied to the nonlinear vehicle dynamics with varying velocity. The main objective of this study is the stabilisation of longitudinal, lateral and yaw angular vehicle velocities. To this end, a nonlinear vehicle model is developed which takes both the lateral and longitudinal vehicle dynamics into account. Based on this model, a method to build a nonlinear state feedback control is first designed by which the complexity of system structure can be simplified. The obtained system is then synthesised by the combined Lyapunov–LaSalle method. The simulation results show that the proposed control can improve stability and comfort of vehicle driving. Moreover, this paper presents a lemma which ensures the trajectory tracking and path-following problem for vehicle. It can also be exploited simultaneously to solve both the tracking and path-following control problems of the vehicle ride and driving stability. We also show how the results of the lemma can be applied to solve the path-following problem, in which the vehicle converges and follows a designed path. The effectiveness of the proposed lemma for trajectory tracking is clearly demonstrated by simulation results.

Date: 2015
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2014.880195 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:46:y:2015:i:16:p:2873-2886

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2014.880195

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().