Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30320
Disturbance Observer for Lateral Trajectory Tracking Control for Autonomous and Cooperative Driving

Authors: Christian Rathgeber, Franz Winkler, Dirk Odenthal, Steffen Muller

Abstract:

In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.

Keywords: Autonomous Driving, Cooperative Driving, disturbance observer, trajectory tracking, robust control

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1100833

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2461

References:


[1] K. Ohnishi, “A new servo method in mechatronics,” Trans. Jpn. Soc. Elect. Eng, vol. 107, pp. 83–86, 1987.
[2] J. Ackermann, J. Guldner, W. Sienel, R. Steinhauser, and V. I. Utkin, “Linear and nonlinear controller design for robust automatic steering,” Control Systems Technology, IEEE Transactions on, vol. 3, no. 1, pp. 132–143, 1995.
[3] M. Werling, L. Groll, and G. Bretthauer, “Invariant trajectory tracking ¨ with a full-size autonomous road vehicle,” IEEE Transactions on Robotics, vol. 26, no. 4, pp. 758–765, 2010.
[4] R. Attia, R. Orjuela, and M. Basset, “Coupled longitudinal and lateral control strategy improving lateral stability for autonomous vehicle,” in American Control Conference (ACC), 2012. IEEE, 2012, pp. 6509–6514.
[5] P. Riekert and T.-E. Schunck, “Zur Fahrmechanik des gummibereiften Kraftfahrzeugs,” Ingenieur-Archiv, vol. 11, no. 3, pp. 210–224, 1940.
[6] M. Walter, N. Nitzsche, D. Odenthal, and S. Muller, “Lateral vehicle ¨ guidance control for autonomous and cooperative driving,” in Proc. European Control Conference. European Control Conference, 2014, pp. 2667–2672.
[7] B. A. Guvenc ¨ ¸, L. Guvenc ¨ ¸, and S. Karaman, “Robust MIMO disturbance observer analysis and design with application to active car steering,” International Journal of Robust and Nonlinear Control, vol. 20, no. 8, pp. 873–891, 2010.
[8] T. Umeno and Y. Hori, “Robust speed control of DC servomotors using modern two degrees-of-freedom controller design,” Industrial Electronics, IEEE Transactions on, vol. 38, no. 5, pp. 363–368, 1991.
[9] S.-K. Park and S.-H. Lee, “Disturbance observer based robust control for industrial robots with flexible joints,” in Control, Automation and Systems, 2007. ICCAS’07. International Conference on. IEEE, 2007, pp. 584–589.
[10] S. M. Shahruz, “Suppression of effects of nonlinearities by disturbance observers,” in American Control Conference, 2004. Proceedings of the 2004, vol. 5. IEEE, 2004, pp. 4342–4347.
[11] H. Shim and N. H. Jo, “An almost necessary and sufficient condition for robust stability of closed-loop systems with disturbance observer,” Automatica, vol. 45, no. 1, pp. 296–299, 2009.
[12] B. A. Guvenc, T. Bunte, D. Odenthal, and L. Guvenc, “Robust two degree-of-freedom vehicle steering controller design,” Control Systems Technology, IEEE Transactions on, vol. 12, no. 4, pp. 627–636, 2004.
[13] C. Rathgeber, F. Winkler, D. Odenthal, and S. Muller, “Lateral trajectory ¨ tracking control for autonomous vehicles,” in Proc. European Control Conference. European Control Conference, 2014, pp. 1024–1029.
[14] N. Hogan, “Impedance control: An approach to manipulation,” in American Control Conference, 1984. IEEE, 1984, pp. 304–313.
[15] J. Ackermann and P. Blue, Robust control: the parameter space approach. Springer, 2002.
[16] J. Ackermann, A. Bartlett, D. Kaesbauer, W. Sienel, and R. Steinhauser, Robust control. Springer, 1993.
[17] W. Sienel, T. Bunte, and J. Ackermann, “Paradise-parametric robust analysis and design interactive software environment: A matlab-based robust control toolbox,” in Computer-Aided Control System Design, 1996., Proceedings of the 1996 IEEE International Symposium on. IEEE, 1996, pp. 380–385.