Journal article
Output Constraint Control on Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles
Abstract
The path-following problem for four-wheel independently actuated autonomous ground vehicles is investigated in this paper. A novel output constraint controller is proposed to deal with the lateral offset control in path following and maintain the vehicle lateral stability in the presence of tire sliding effects. The innovations of this work lie in the following two aspects: 1) A novel output constraint control strategy, namely, the hyperbolic …
Authors
Hu C; Wang R; Yan F; Chen N
Journal
IEEE Transactions on Vehicular Technology, Vol. 65, No. 6, pp. 4033–4043
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
June 1, 2016
DOI
10.1109/tvt.2015.2472975
ISSN
0018-9545