Nonlinear feedback control and trajectory tracking of vehicle

Younes Abbassi (1) , Youcef Ait Amirat (2) , Rachid Outbib (3)

1 UTBM - Université de Technologie Belfort-Montbéliard
2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
3 LSIS - Laboratoire des Sciences de l'Information et des Systèmes

This paper mainly studies nonlinear feedback control applied to the nonlinear vehicle dynamics with varying velocity. The main objective of this study is the stabilisation of longitudinal, lateral and yaw angular vehicle velocities. To this end, a nonlinear vehicle model is developed which takes both the lateral and longitudinal vehicle dynamics into account. Based on this model, a method to build a nonlinear state feedback control is first designed by which the complexity of system structure can be simplified. The obtained system is then synthesised by the combined Lyapunov–LaSalle method. The simulation results show that the proposed control can improve stability and comfort of vehicle driving. Moreover, this paper presents a lemma which ensures the trajectory tracking and path-following problem for vehicle. It can also be exploited simultaneously to solve both the tracking and path-following control problems of the vehicle ride and driving stability. We also show how the results of the lemma can be applied to solve the path-following problem, in which the vehicle converges and follows a designed path. The effectiveness of the proposed lemma for trajectory tracking is clearly demonstrated by simulation results.

Domaines: Mécanique des fluides [physics.class-ph]; Thermique [physics.class-ph]; Automatique / Robotique; Energie électrique

Younes Abbassi, Youcef Ait Amirat, Rachid Outbib. Nonlinear feedback control and trajectory tracking of vehicle. International Journal of Systems Science, 2015, 46 (16), pp.2873-2886. ⟨10.1080/00207721.2014.880195⟩. ⟨hal-02868254⟩