Robust Adaptive Learning-Based Path Tracking Control of Autonomous Vehicles Under Uncertain Driving Environments

• Published in: IEEE transactions on intelligent transportation systems Vol. 23; no. 11; pp. 20798 - 20809
• Main Authors: Li, Xuefang, Liu, Chengyuan, Chen, Boli, Jiang, Jingjing
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuation; Adaptation models; Adaptive control; Adaptive learning; Adaptive learning control; Algorithms; Autonomous vehicles; Control theory; Convergence; convergence analysis; Disturbances; Iterative methods; Learning; Path tracking; Robust control; Robustness; Tracking control; trajectory tracking; Uncertainty; Vehicle dynamics

This paper investigates the path tracking control problem of autonomous vehicles subject to modelling uncertainties and external disturbances. The problem is approached by employing a 2-degree of freedom vehicle model, which is reformulated into a newly defined parametric form with the system uncert...