Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function Article Swipe
Rameez Khan
,
Fahad Mumtaz Malik
,
Naveed Mazhar
,
Abid Raza
,
Raja Amer Azim
,
Hameed Ullah
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/access.2021.3068949
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/access.2021.3068949
This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is implemented to guarantee the system robustness while maintaining the outputs of the system in realistic bounds. Following the model reduction approach, the slow and fast dynamics of the system are separately controlled using the proposed control technique. The efficacy of the proposed control technique is examined by comparing the simulation results with conventional sliding mode control in two-time scales.
Related Topics
Concepts
Control theory (sociology)
Lyapunov function
Robustness (evolution)
Sliding mode control
Parametric statistics
Vehicle dynamics
Robust control
Computer science
Control-Lyapunov function
Curvature
System dynamics
Lyapunov redesign
Control system
Control (management)
Engineering
Mathematics
Nonlinear system
Physics
Automotive engineering
Artificial intelligence
Geometry
Quantum mechanics
Chemistry
Electrical engineering
Gene
Biochemistry
Statistics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/access.2021.3068949
- https://ieeexplore.ieee.org/ielx7/6287639/9312710/09386068.pdf
- OA Status
- gold
- Cited By
- 22
- References
- 52
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3143734617
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W3143734617Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1109/access.2021.3068949Digital Object Identifier
- Title
-
Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov FunctionWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-01-01Full publication date if available
- Authors
-
Rameez Khan, Fahad Mumtaz Malik, Naveed Mazhar, Abid Raza, Raja Amer Azim, Hameed UllahList of authors in order
- Landing page
-
https://doi.org/10.1109/access.2021.3068949Publisher landing page
- PDF URL
-
https://ieeexplore.ieee.org/ielx7/6287639/9312710/09386068.pdfDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://ieeexplore.ieee.org/ielx7/6287639/9312710/09386068.pdfDirect OA link when available
- Concepts
-
Control theory (sociology), Lyapunov function, Robustness (evolution), Sliding mode control, Parametric statistics, Vehicle dynamics, Robust control, Computer science, Control-Lyapunov function, Curvature, System dynamics, Lyapunov redesign, Control system, Control (management), Engineering, Mathematics, Nonlinear system, Physics, Automotive engineering, Artificial intelligence, Geometry, Quantum mechanics, Chemistry, Electrical engineering, Gene, Biochemistry, StatisticsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
22Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 2, 2024: 7, 2023: 4, 2022: 5, 2021: 4Per-year citation counts (last 5 years)
- References (count)
-
52Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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