Schucker, Jeremias ; Konigorski, Ulrich (2019)
Linear Time-Variant Vehicle Trajectory Guidance with Nonlinear Inversion-Based Feedforward Control.
In: IFAC-Papers OnLine, 52 (5)
doi: 10.1016/j.ifacol.2019.09.061
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
This work presents a two-degree-of-freedom (2DOF) control concept for vehicle trajectory guidance for automated driving on highways consisting of a nonlinear feedforward control and a linear time-variant feedback controller. To obtain a linear time-variant system of the error dynamics the nonlinear vehicle model is linearized along a given trajectory. To relieve the feedback controller future knowledge of the vehicle movement contained in the trajectory is used to create a nonlinear inversion-based feedforward control. Finally, the control concept is applied in a sophisticated simulation environment and compared to a nonlinear benchmark controller. In addition, model states are chosen in a way that all required signals can be obtained by state-of-the-art hardware of production vehicles.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2019 |
| Autor(en): | Schucker, Jeremias ; Konigorski, Ulrich |
| Art des Eintrags: | Bibliographie |
| Titel: | Linear Time-Variant Vehicle Trajectory Guidance with Nonlinear Inversion-Based Feedforward Control |
| Sprache: | Englisch |
| Publikationsjahr: | 23 Juni 2019 |
| Verlag: | Elsevier |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IFAC-Papers OnLine |
| Jahrgang/Volume einer Zeitschrift: | 52 |
| (Heft-)Nummer: | 5 |
| DOI: | 10.1016/j.ifacol.2019.09.061 |
| Kurzbeschreibung (Abstract): | This work presents a two-degree-of-freedom (2DOF) control concept for vehicle trajectory guidance for automated driving on highways consisting of a nonlinear feedforward control and a linear time-variant feedback controller. To obtain a linear time-variant system of the error dynamics the nonlinear vehicle model is linearized along a given trajectory. To relieve the feedback controller future knowledge of the vehicle movement contained in the trajectory is used to create a nonlinear inversion-based feedforward control. Finally, the control concept is applied in a sophisticated simulation environment and compared to a nonlinear benchmark controller. In addition, model states are chosen in a way that all required signals can be obtained by state-of-the-art hardware of production vehicles. |
| Zusätzliche Informationen: | 9th IFAC International Symposium on Advances in Automotive Control, Orléans, France, 23.-27.06.2019 |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungstechnik und Mechatronik |
| Hinterlegungsdatum: | 19 Aug 2019 08:20 |
| Letzte Änderung: | 17 Aug 2023 10:08 |
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