Adaptive Path-Following Control of An Autonomous Vehicle with Path-Dependent Constraint Requirements

Xu Jin, Shi Lu Dai, Jianjun Liang, Dejun Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

Constrained operations for autonomous vehicles have been extensively studied in the literature over recent years. However, to the best of the authors' knowledge, all of the existing works address only constant or time-varying constraint functions. In this work, we study path-dependent constraint requirements, which explicitly depend on the path parameter, instead of depending on the time variable directly. This formulation of constraints is more practical in reality, where the constraint requirements are often shaped by the environment boundaries. From the system users' perspectives, it is also much easier to define constraint functions based on the path parameter. A modified version of the universal barrier function is used in the analysis of path-dependent constraint requirements. Furthermore, system unknowns and uncertainties are taken into considerations when designing the adaptive control algorithm. A simulation study further demonstrates the efficacy of the proposed scheme.

Original languageEnglish
Title of host publication60th IEEE Conference on Decision and Control, CDC 2021
Pages5753-5758
Number of pages6
ISBN (Electronic)9781665436595
DOIs
StatePublished - 2021
Event60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States
Duration: Dec 13 2021Dec 17 2021

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2021-December
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference60th IEEE Conference on Decision and Control, CDC 2021
Country/TerritoryUnited States
CityAustin
Period12/13/2112/17/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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