A non-recursive control framework for autonomous vehicles without dependence on model parameters and velocity sensors

Tóm tắt

This paper presents a trajectory tracking control method for autonomous vehicles (AVs) that does not depend on model parameters or velocity sensors, based on a non-recursive control framework. First, the position tracking error of the AVs is defined at a look-ahead reference point. Then, a state observer is designed to estimate the corresponding velocity tracking error, thereby eliminating the dependency of the control system on velocity sensors. Finally, an adaptive controller based on the non-recursive control framework is developed to ensure robust trajectory tracking performance of the AVs under external disturbances. The advantage of the proposed method is that it does not require prior knowledge of the model parameters of the AVs, while being capable of handling uncertainties through a single adaptive parameter. The stability of the method is proven based on Lyapunov theory and is validated through simulation examples in Matlab/Simulink.