شماره ركورد كنفرانس :
5364
عنوان مقاله :
Lyapunov-Based Path Following of Four Wheel Steering Autonomous Vehicles
پديدآورندگان :
Rahmanei1 Hamid K.N.Toosi University of Technology, Tehran , Aliabadi Abbas aliabadi@mapnagroup.com Imam Hossein University, Tehran , Ghaffari Ali K.N.Toosi University of Technology, Tehran , Azadi Shahram azadi@kntu.ac.ir K.N.Toosi University of Technology, Tehran
كليدواژه :
Dynamic analysis#Residential building#Photovoltaics thermal#TRANSYS.
عنوان كنفرانس :
سي امين همايش سالانه بين المللي انجمن مهندسان مكانيك ايران
چكيده فارسي :
Many research have been conducted to evaluate the path following task in the context of autonomous vehicles, by different control strategies. This paper addresses the four-wheel steering (4WS) capability of electrical vehicles to follow a lane change reference path with the constant longitudinal velocity. The advantage of the proposed Lyapunov-based controller is that compensates for the road curvature and traveled path as a disturbance and also uses the feedback of tracking errors to follow the reference path, properly. In addition, by introducing a positive definite candidate function, the proof of the stability in the path following task is provided. Simulation results confirm that the proposed controller is able to make the lateral preview offset and heading error converge toward zero, despite the un-modeled dynamics and parametric uncertainties.