Novel data-driven path tracking constrained control for intelligent vehicle autonomous overtaking system
XU De-zhi
DENG Jing
YAN Wen-xu
JI Zhi-cheng
Abstract：In this paper,a novel data-driven path tracking constrained control scheme is proposed for intelligent vehicle autonomous overtaking system.The design of the proposed control scheme only depends on the input data and output data of the controlled system,and it does not involve any model information of the car.Therefore,the proposed scheme based autonomous overtaking system is applicable to different kinds of cars.In the design procedure of the controller,a novel dynamic anti-windup compensator is used to deal with the change magnitude and rate saturations of autonomous overtaking control input.Finally,a simulation comparison among the proposed scheme,model free adaptive control (MFAC)and proportion integration differentiation(PID)control algorithm is given.It is shown that the proposed scheme can perfectly achieve the path tracking in the autonomous overtaking process.And the proposed scheme has smaller tracking errors and more rapid responses than model free adaptive control and PID control scheme.
Keywords：intelligent vehicledata-driven constrained controlovertaking pathdynamic anti-windup
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 283-290 )