Lateral Control of Autonomous Vehicles with Data Dropout via an Enhanced Data-driven Model-free Adaptive Control Algorithm
Addressing the lateral path tracking control issue of autonomous vehicles during data dropout, an improved model-free adaptive control system with data compensation (DC-EMFAC) is introduced. First, the method introduces a dynamic linearization technique with a time-varying factor pseudo gradient (PG...
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| Format: | Article |
| Language: | English |
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Tsinghua University Press
2024-03-01
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| Series: | Journal of Highway and Transportation Research and Development |
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| Online Access: | https://www.sciopen.com/article/10.26599/HTRD.2024.9480005 |
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| author | Shida Liu Yuhao Yan Honghai Ji Li Wang |
| author_facet | Shida Liu Yuhao Yan Honghai Ji Li Wang |
| author_sort | Shida Liu |
| collection | DOAJ |
| description | Addressing the lateral path tracking control issue of autonomous vehicles during data dropout, an improved model-free adaptive control system with data compensation (DC-EMFAC) is introduced. First, the method introduces a dynamic linearization technique with a time-varying factor pseudo gradient (PG) to linearize the dynamic process of an autonomous vehicle, and then designs a model-free adaptive controller. Moreover, addressing the issue of data dropout in the actual system, this paper employs an estimation algorithm to estimate the data loss at the present time based on the system 's input and output (I/O) from the past and PG. The advantage of the DC-EMFAC is that the controller design process is based on the I/O data of the controlled object, without the need for an accurate mathematical model. The effectiveness of the proposed algorithm is verified through a series of simulations on the Panosim platform. |
| format | Article |
| id | doaj-art-bb319b4ea9fd4ece92229edd1808e9f0 |
| institution | DOAJ |
| issn | 2095-6215 |
| language | English |
| publishDate | 2024-03-01 |
| publisher | Tsinghua University Press |
| record_format | Article |
| series | Journal of Highway and Transportation Research and Development |
| spelling | doaj-art-bb319b4ea9fd4ece92229edd1808e9f02025-08-20T02:56:51ZengTsinghua University PressJournal of Highway and Transportation Research and Development2095-62152024-03-01181384510.26599/HTRD.2024.9480005Lateral Control of Autonomous Vehicles with Data Dropout via an Enhanced Data-driven Model-free Adaptive Control AlgorithmShida Liu0Yuhao Yan1Honghai Ji2Li Wang3School of Electrical and Control Engineering, North China University of Technology, Beijing 100093, ChinaSchool of Electrical and Control Engineering, North China University of Technology, Beijing 100093, ChinaSchool of Electrical and Control Engineering, North China University of Technology, Beijing 100093, ChinaSchool of Electrical and Control Engineering, North China University of Technology, Beijing 100093, ChinaAddressing the lateral path tracking control issue of autonomous vehicles during data dropout, an improved model-free adaptive control system with data compensation (DC-EMFAC) is introduced. First, the method introduces a dynamic linearization technique with a time-varying factor pseudo gradient (PG) to linearize the dynamic process of an autonomous vehicle, and then designs a model-free adaptive controller. Moreover, addressing the issue of data dropout in the actual system, this paper employs an estimation algorithm to estimate the data loss at the present time based on the system 's input and output (I/O) from the past and PG. The advantage of the DC-EMFAC is that the controller design process is based on the I/O data of the controlled object, without the need for an accurate mathematical model. The effectiveness of the proposed algorithm is verified through a series of simulations on the Panosim platform.https://www.sciopen.com/article/10.26599/HTRD.2024.9480005automotive engineeringautonomous vehiclemodel-free adaptive control (mfac)data dropoutdata compensationdata driven control |
| spellingShingle | Shida Liu Yuhao Yan Honghai Ji Li Wang Lateral Control of Autonomous Vehicles with Data Dropout via an Enhanced Data-driven Model-free Adaptive Control Algorithm Journal of Highway and Transportation Research and Development automotive engineering autonomous vehicle model-free adaptive control (mfac) data dropout data compensation data driven control |
| title | Lateral Control of Autonomous Vehicles with Data Dropout via an Enhanced Data-driven Model-free Adaptive Control Algorithm |
| title_full | Lateral Control of Autonomous Vehicles with Data Dropout via an Enhanced Data-driven Model-free Adaptive Control Algorithm |
| title_fullStr | Lateral Control of Autonomous Vehicles with Data Dropout via an Enhanced Data-driven Model-free Adaptive Control Algorithm |
| title_full_unstemmed | Lateral Control of Autonomous Vehicles with Data Dropout via an Enhanced Data-driven Model-free Adaptive Control Algorithm |
| title_short | Lateral Control of Autonomous Vehicles with Data Dropout via an Enhanced Data-driven Model-free Adaptive Control Algorithm |
| title_sort | lateral control of autonomous vehicles with data dropout via an enhanced data driven model free adaptive control algorithm |
| topic | automotive engineering autonomous vehicle model-free adaptive control (mfac) data dropout data compensation data driven control |
| url | https://www.sciopen.com/article/10.26599/HTRD.2024.9480005 |
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