Conference
Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles
Abstract
This paper studies the path following control problem for four-wheel independently actuated (FWIA) autonomous ground vehicles (AGVs) through integrated control of active front-wheel steering (AFS) and direct yaw-moment control (DYC). A modified composite nonlinear feedback (CNF) strategy is proposed to improve the transient performance and eliminate the steady-state errors in the path following control considering the tire force saturations, in …
Authors
Hu C; Wang R; Yan F; Chadli M; Karimi HR
Pagination
pp. 203-208
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
December 1, 2015
DOI
10.1109/cdc.2015.7402109
Name of conference
2015 54th IEEE Conference on Decision and Control (CDC)