| Author Name | Affiliation | | ZHANG Jing-ming | School of Automotive Engineering, Harbin Institute of Technology at Weihai, Weihai 264209, China | | REN Dian-bo | School of Automotive Engineering, Harbin Institute of Technology at Weihai, Weihai 264209, China | | CUI Sheng-min | School of Automotive Engineering, Harbin Institute of Technology at Weihai, Weihai 264209, China | | ZHANG Ji-ye | State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu 610031, China |
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| Abstract: |
| In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehicle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-ahead references systems. The stability of the system is investigated from the zero dynamics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle error and slip angle are fast. |
| Key words: intelligent vehicle systems lane keeping direct adaptive control Lyapunov function method |
| DOI：10.11916/j.issn.1005-9113.2009.06.013 |
| Clc Number:U463.6 |
| Fund: |
