Global prescribed performance control for lane-keeping of automated vehicles considering input saturation  

作　　者：Zhibang Si Yujuan Wang Qing Chen Manling Wu 

机构地区：[1]School of Automation,Chongqing University,Chongqing,400044,China [2]School of Electrical Engineering,Chongqing University of Science and Technology,Chongqing,401331,China [3]Utilities Department,CISDI Engineering Co.Ltd,Chongqing,400013,China

出　　处：《Journal of Automation and Intelligence》2025年第1期65-71,共7页自动化与人工智能(英文)

基　　金：supported in part by the National Key Research and Development Program of China under Grant 2023YFA1011803;in part by Natural Science Foundation of Chongqing,China under Grant CSTB2023NSCQ-MSX0588;in part by the Fundamental Research Funds for the Central Universities,China under Grant 2023CDJKYJH047;in part by the National Natural Science Foundation of China under Grant 62273064,Grant 61991400,Grant 61991403,Grant 61933012,Grant 62250710167,Grant 62203078;in part by Innovation Support Program for International Students Returning to China under Grant cx2022016.

摘　　要：This paper addresses the lane-keeping control problem for autonomous ground vehicles subject to input saturation and uncertain system parameters.An enhanced adaptive terminal sliding mode based prescribed performance control scheme is proposed,which enables the lateral position error of the vehicle to be kept within the prescribed performance boundaries all the time.This is achieved by firstly introducing an improved performance function into the controller design such that the stringent initial condition requirements can be relaxed,which further allows the global prescribed performance control result,and then,developing a multivariable adaptive terminal sliding mode based controller such that both input saturation and parameter uncertainties are handled effectively,which further ensures the robust lane-keeping control.Finally,the proposed control strategy is validated through numerical simulations,demonstrating its effectiveness.

关 键 词：Lane keeping Global prescribed performance Adaptive terminal sliding mode control Input saturation 

分 类 号：U463.6[机械工程—车辆工程]