Dual-envelop-oriented moving horizon path tracking control for fully automated vehicles

A novel description of dual-envelop-oriented path tracking issue is presented for fully automated vehicles which considers shape of vehicle as inner-envelop (I-ENV) and feasible road region as outer-envelop (O-ENV). Then implicit linear model predictive control (MPC) approach is proposed to design moving horizon path tracking controller in order to solve the situations that may cause collision and run out of road in traditional path tracking method. The proposed MPC controller employed varied sample time and varied prediction horizon and could deal with modelling error effectively. In order to specify the effectiveness of the proposed dual-envelop-oriented moving horizon path tracking method, veDYNA-Simulink joint simulations in different running conditions are carried out. The results illustrate that the proposed path tracking scheme performs well in tracking the desired path, and could increase path tracking precision effectively

Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities

Robotics 2010

Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development