A simple yet efficient Path Tracking Controller for Autonomous Trucks
نویسندگان
چکیده
منابع مشابه
A 3d Path-following Velocity-tracking Controller for Autonomous Vehicles
This paper addresses the path-following problem of steering an autonomous vehicle along a desired path, while tracking a predefined velocity profile. The presented solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which is specially suited for a Dmethodology controller implementation. The error space exhibits a high-degree of directio...
متن کاملDesigning a quantum genetic controller for tracking the path of quantum systems
Based on learning control methods and computational intelligence, control of quantum systems is an attractive field of study in control engineering. What is important is to establish control approach ensuring that the control process converges to achieve a given control objective and at the same time it is simple and clear. In this paper, a learning control method based on genetic quantum contr...
متن کاملDesign of Robust Finite-Time Nonlinear Controllers for a 6-DOF Autonomous Underwater Vehicle for Path Tracking Objective
In this paper, kinematic and dynamic equations of a 6-DOF (Degrees Of Freedom) autonomous underwater vehicle (6-DOF AUV) are introduced and described completely. By developing the nonsingular terminal sliding mode control method, three separate groups of control inputs are proposed for the autonomous underwater vehicle subjected to uncertainties including parametric uncertainties, unmodeled dyn...
متن کاملA Path-Following Preview Controller for Autonomous Air Vehicles
This paper addresses the path-following problem of steering an autonomous air vehicle along a predefined 3-D path, while tracking a desired velocity profile. The presented solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which exhibits a high degree of directional accuracy. The proposed methodology adopts a polytopic Linear Parameter...
متن کاملA Dynamic Programming Based Path-following Controller for Autonomous Vehicles
The problem of path following for autonomous vehicles under adversarial behaviour is considered. The objective is to keep the cross-track error to the reference path inside a given tolerance interval. The adversarial behaviour models system uncertainty and unknown or poorly estimated bounded disturbances to ensure that the concept of weakly invariant set is used, i.e., the set of states that th...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2019
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2019.08.088