Tracking control of autonomous vehicles via backstepping method with dynamic surface control
This paper discusses a trajectory tracking control problem for the development of autonomous vehicles. The reference trajectory is generated by a kinematic model which is nonholonomically constrained not to skid at the rear drive wheels. A nonlinear dynamical controller to follow the trajectory is p...
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| Format: | Article |
| Language: | English |
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The Japan Society of Mechanical Engineers
2025-03-01
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| Series: | Mechanical Engineering Journal |
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| Online Access: | https://www.jstage.jst.go.jp/article/mej/12/3/12_24-00455/_pdf/-char/en |
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| _version_ | 1850086495023529984 |
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| author | Makoto YOKOYAMA Koji NISHIKAWA |
| author_facet | Makoto YOKOYAMA Koji NISHIKAWA |
| author_sort | Makoto YOKOYAMA |
| collection | DOAJ |
| description | This paper discusses a trajectory tracking control problem for the development of autonomous vehicles. The reference trajectory is generated by a kinematic model which is nonholonomically constrained not to skid at the rear drive wheels. A nonlinear dynamical controller to follow the trajectory is proposed by applying backstepping (BS) method, together with Dynamic Surface Control (DSC) to solve the so called “problem of explosion of terms in the BS method”. Ultimate boundedness of the closed-loop system is investigated. Finally, simulation results illustrate the effectiveness of the proposed controller. |
| format | Article |
| id | doaj-art-69e0da7c62d2457fb275e7cc77e0aa47 |
| institution | DOAJ |
| issn | 2187-9745 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Mechanical Engineering Journal |
| spelling | doaj-art-69e0da7c62d2457fb275e7cc77e0aa472025-08-20T02:43:28ZengThe Japan Society of Mechanical EngineersMechanical Engineering Journal2187-97452025-03-0112324-0045524-0045510.1299/mej.24-00455mejTracking control of autonomous vehicles via backstepping method with dynamic surface controlMakoto YOKOYAMA0Koji NISHIKAWA1Engineering Department, Niigata UniversityEngineering Department, Niigata UniversityThis paper discusses a trajectory tracking control problem for the development of autonomous vehicles. The reference trajectory is generated by a kinematic model which is nonholonomically constrained not to skid at the rear drive wheels. A nonlinear dynamical controller to follow the trajectory is proposed by applying backstepping (BS) method, together with Dynamic Surface Control (DSC) to solve the so called “problem of explosion of terms in the BS method”. Ultimate boundedness of the closed-loop system is investigated. Finally, simulation results illustrate the effectiveness of the proposed controller.https://www.jstage.jst.go.jp/article/mej/12/3/12_24-00455/_pdf/-char/enautonomous drivingnonlinear controlcontroller designback-stepping methoddynamic surface controlstability analysisultimate boundness |
| spellingShingle | Makoto YOKOYAMA Koji NISHIKAWA Tracking control of autonomous vehicles via backstepping method with dynamic surface control Mechanical Engineering Journal autonomous driving nonlinear control controller design back-stepping method dynamic surface control stability analysis ultimate boundness |
| title | Tracking control of autonomous vehicles via backstepping method with dynamic surface control |
| title_full | Tracking control of autonomous vehicles via backstepping method with dynamic surface control |
| title_fullStr | Tracking control of autonomous vehicles via backstepping method with dynamic surface control |
| title_full_unstemmed | Tracking control of autonomous vehicles via backstepping method with dynamic surface control |
| title_short | Tracking control of autonomous vehicles via backstepping method with dynamic surface control |
| title_sort | tracking control of autonomous vehicles via backstepping method with dynamic surface control |
| topic | autonomous driving nonlinear control controller design back-stepping method dynamic surface control stability analysis ultimate boundness |
| url | https://www.jstage.jst.go.jp/article/mej/12/3/12_24-00455/_pdf/-char/en |
| work_keys_str_mv | AT makotoyokoyama trackingcontrolofautonomousvehiclesviabacksteppingmethodwithdynamicsurfacecontrol AT kojinishikawa trackingcontrolofautonomousvehiclesviabacksteppingmethodwithdynamicsurfacecontrol |