Path tracking control of autonomous vehicles via prescribed performance approach

• Published in: Neural computing & applications Vol. 37; no. 5; pp. 3839 - 3856
• Main Authors: Zhang, Sucai, Wang, Yongfu, Li, Gang, Wang, Yunlong
• Format: Journal Article
• Language: English
• Published: London Springer London 01.02.2025; Springer Nature B.V
• Subjects: Accuracy; Artificial Intelligence; Autonomous vehicles; Computational Biology/Bioinformatics; Computational Science and Engineering; Computer Science; Control systems design; Controllers; Data Mining and Knowledge Discovery; Design; Disturbance observers; Image Processing and Computer Vision; Methods; Motion control; Neural networks; Original Article; Path tracking; Probability and Statistics in Computer Science; Sensors; Sideslip; State observers; Tires; Tracking control; Tracking errors; Traffic control; Path tracking; Neural network; Prescribed performance; Autonomous vehicles

This paper addresses the path tracking control problem for autonomous vehicles subject to the compound disturbance and unavailable variable. Before the controller design, a state observer and a disturbance observer are constructed to estimate the sideslip angle and the compound disturbance, respecti...