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Prescribed Performance Path Following for Self-Driving Vehicles Considering Parametric Uncertainties
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Taiqi WANG, Runmou XIAO, Chang WANG, Xinfeng ZHANG
Chinese Journal of Automotive Engineering | 2024, 14(2) : 181 - 192
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Chinese Journal of Automotive Engineering | 2024, 14(2): 181-192
• Intelligent & Connected Technologies Section/Editor in Chief: GAO Zhenhai •
Prescribed Performance Path Following for Self-Driving Vehicles Considering Parametric Uncertainties
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Taiqi WANG, Runmou XIAO, Chang WANG, Xinfeng ZHANG
Affiliations
  • School of Automobile Chang'an University Xi'an 710064 China
doi: 10.3969/j.issn.2095-1469.2024.02.03
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To ensure path tracking control precision in selfdriving vehicles with uncertain parameters, the paper proposes an outputfeedback control method with the prescribed control performance criteria. Firstly, by constructing the lateral offset error at the driver's preview point, a secondorder error integration system is established. Considering the unknown lateral velocity and perturbation in the tire cornering stiffness, a control model containing lumped unknown states is established by using the extended state method. The unknown states of the system are obtained by designing a linear extended state observer and the uniformly bounded convergence of the observation error is further proved. Then, to address the issue that the transient and steadystate performance of vehicles cannot meet the predefined accuracies, an output feedback path following controller with prescribed performance is proposed, incorporating observer estimations. The stability of the closedloop system is rigorously proved based on the Lyapunov theory. Finally, Matlab/

self-driving vehicles  /  path following  /  prescribed performance  /  model uncertainties
Taiqi WANG, Runmou XIAO, Chang WANG, Xinfeng ZHANG. Prescribed Performance Path Following for Self-Driving Vehicles Considering Parametric Uncertainties[J]. Chinese Journal of Automotive Engineering, 2024 , 14 (2) : 181 -192 . DOI: 10.3969/j.issn.2095-1469.2024.02.03
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Article Info
doi: 10.3969/j.issn.2095-1469.2024.02.03
  • Receive Date：2023-01-13
  • Online Date：2025-07-21
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  • Received：2023-01-13
  • Revised：2023-05-26
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    School of Automobile Chang'an University Xi'an 710064 China
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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