Trajectory tracking control of autonomous vehicles based on improved model-free adaptive control

Wanting Wang; Siming Wang; Taoguo Han

doi:10.1117/12.3015392

15 March 2024 Trajectory tracking control of autonomous vehicles based on improved model-free adaptive control

Wanting Wang, Siming Wang, Taoguo Han

Proceedings Volume 13079, Third International Conference on Testing Technology and Automation Engineering (TTAE 2023); 130790Y (2024) https://doi.org/10.1117/12.3015392
Event: 3rd International Conference of Testing Technology and Automation Engineering (TTAE 2023), 2023, Xi-an, China

Abstract

This paper presents a novel approach to address the lateral control issue in trajectory tracking for autonomous cars. Traditional model-free adaptive control algorithms have some limitations, prompting the development of an enhanced data-driven model-free adaptive control scheme. More precisely, inside a specified trajectory, the vehicle's issue of lateral control is converted into a problem of tracking the preview-deviation-angle. A dynamic linearized data model is developed for the lateral control of autonomous cars, taking into account the input and output data. To enhance the steering angle control rate, a time-varying proportional control term is incorporated. An enhanced trajectory tracking control technique for the MFAC system is proposed, followed by a demonstration of its convergence. The simulation findings demonstrate that the IMFAC scheme exhibits a superior output response compared to both MFAC and PID in both low-speed and highspeed scenarios. Furthermore, the IMFAC system is capable of achieving autonomous vehicle path tracking.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Wanting Wang, Siming Wang, and Taoguo Han "Trajectory tracking control of autonomous vehicles based on improved model-free adaptive control", Proc. SPIE 13079, Third International Conference on Testing Technology and Automation Engineering (TTAE 2023), 130790Y (15 March 2024); https://doi.org/10.1117/12.3015392

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