Robust control framework for lateral dynamics of autonomous vehicle using barrier lyapunov function

Rameez Khan; Fahad Mumtaz Malik; Naveed Mazhar; Abid Raza; Raja Amer Azim; Hameed Ullah

doi:10.1109/ACCESS.2021.3068949

Robust control framework for lateral dynamics of autonomous vehicle using barrier lyapunov function

Rameez Khan^*
, Fahad Mumtaz Malik
, Naveed Mazhar
, Abid Raza
, Raja Amer Azim
, Hameed Ullah

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

20 Scopus citations

Abstract

This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is implemented to guarantee the system robustness while maintaining the outputs of the system in realistic bounds. Following the model reduction approach, the slow and fast dynamics of the system are separately controlled using the proposed control technique. The efficacy of the proposed control technique is examined by comparing the simulation results with conventional sliding mode control in two-time scales.

Original language	English
Article number	9386068
Pages (from-to)	50513-50522
Number of pages	10
Journal	IEEE Access
Volume	9
DOIs	https://doi.org/10.1109/ACCESS.2021.3068949
State	Published - 2021
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2013 IEEE.

Keywords

Autonomous vehicle
barrier function
lateral dynamics
nonlinear model reduction
output constraints
single-input multi-output control
two-time scales

ASJC Scopus subject areas

General Computer Science
General Materials Science
General Engineering

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10.1109/ACCESS.2021.3068949

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title = "Robust control framework for lateral dynamics of autonomous vehicle using barrier lyapunov function",

abstract = "This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is implemented to guarantee the system robustness while maintaining the outputs of the system in realistic bounds. Following the model reduction approach, the slow and fast dynamics of the system are separately controlled using the proposed control technique. The efficacy of the proposed control technique is examined by comparing the simulation results with conventional sliding mode control in two-time scales.",

keywords = "Autonomous vehicle, barrier function, lateral dynamics, nonlinear model reduction, output constraints, single-input multi-output control, two-time scales",

author = "Rameez Khan and Malik, \{Fahad Mumtaz\} and Naveed Mazhar and Abid Raza and Azim, \{Raja Amer\} and Hameed Ullah",

note = "Publisher Copyright: {\textcopyright} 2013 IEEE.",

year = "2021",

doi = "10.1109/ACCESS.2021.3068949",

language = "English",

volume = "9",

pages = "50513--50522",

journal = "IEEE Access",

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AU - Khan, Rameez

AU - Malik, Fahad Mumtaz

AU - Mazhar, Naveed

AU - Raza, Abid

AU - Azim, Raja Amer

AU - Ullah, Hameed

PY - 2021

Y1 - 2021

N2 - This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is implemented to guarantee the system robustness while maintaining the outputs of the system in realistic bounds. Following the model reduction approach, the slow and fast dynamics of the system are separately controlled using the proposed control technique. The efficacy of the proposed control technique is examined by comparing the simulation results with conventional sliding mode control in two-time scales.

AB - This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is implemented to guarantee the system robustness while maintaining the outputs of the system in realistic bounds. Following the model reduction approach, the slow and fast dynamics of the system are separately controlled using the proposed control technique. The efficacy of the proposed control technique is examined by comparing the simulation results with conventional sliding mode control in two-time scales.

KW - Autonomous vehicle

KW - barrier function

KW - lateral dynamics

KW - nonlinear model reduction

KW - output constraints

KW - single-input multi-output control

KW - two-time scales

UR - https://www.scopus.com/pages/publications/85103259398

U2 - 10.1109/ACCESS.2021.3068949

DO - 10.1109/ACCESS.2021.3068949

M3 - Article

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VL - 9

SP - 50513

EP - 50522

JO - IEEE Access

JF - IEEE Access

M1 - 9386068

ER -

Robust control framework for lateral dynamics of autonomous vehicle using barrier lyapunov function

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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