{"title":"Non-Linear Control Based on State Estimation for the Convoy of Autonomous Vehicles","authors":"M-M. Mohamed Ahmed, Nacer K. M\u2019Sirdi, Aziz Naamane","volume":161,"journal":"International Journal of Electrical and Computer Engineering","pagesStart":129,"pagesEnd":138,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/10011221","abstract":"In this paper, a longitudinal and lateral control approach
\r\nbased on a nonlinear observer is proposed for a convoy of autonomous
\r\nvehicles to follow a desired trajectory. To authors best knowledge,
\r\nthis topic has not yet been sufficiently addressed in the literature
\r\nfor the control of multi vehicles. The modeling of the convoy
\r\nof the vehicles is revisited using a robotic method for simulation
\r\npurposes and control design. With these models, a sliding mode
\r\nobserver is proposed to estimate the states of each vehicle in the
\r\nconvoy from the available sensors, then a sliding mode control
\r\nbased on this observer is used to control the longitudinal and lateral
\r\nmovement. The validation and performance evaluation are done using
\r\nthe well-known driving simulator Scanner-Studio. The results are
\r\npresented for different maneuvers of 5 vehicles.","references":"[1] P. Avanzini, B. Thuilot, and P. Martinet, \u201cAccurate platoon control\r\nof urban vehicles, based solely on monocular vision,\u201d in Intelligent\r\nRobots and Systems (IROS), 2010 IEEE\/RSJ International Conference\r\non. IEEE, 2010, pp. 6077\u20136082.\r\n[2] A. Ali, G. Garcia, and P. Martinet, \u201cUrban platooning using a flatbed\r\ntow truck model,\u201d in Intelligent Vehicles Symposium (IV), 2015 IEEE.\r\nIEEE, 2015, pp. 374\u2013379.\r\n[3] D. Swaroop, \u201cString stability of interconnected systems : An application\r\nto platooning in ahs,\u201d Ph.D. dissertation, University of California at\r\nBerkeley, 1994.\r\n[4] P. Avanzini, \u201cMod\u00b4elisation et commande d\u2019un convoi de\r\nv\u00b4ehicules urbains par vision,\u201d Ph.D. dissertation, Universit\u00b4e Blaise\r\nPascal-Clermont-Ferrand II, 2010.\r\n[5] A. Ali, \u201cMod\u00b4elisation et commande d\u2019un convoi de v\u00b4ehicules urbains,\u201d\r\nPh.D. dissertation, Universit Nantes Angers Le Mans, 2015.\r\n[6] P. Daviet and M. Parent, \u201cLongitudinal and lateral servoing of vehicles\r\nin a platoon,\u201d in Intelligent Vehicles Symposium, 1996., Proceedings of\r\nthe 1996 IEEE. IEEE, 1996, pp. 41\u201346.\r\n[7] J. Xiang and T. Br\u00a8aunl, \u201cString formations of multiple vehicles via\r\npursuit strategy,\u201d IET control theory & applications, vol. 4, no. 6, pp.\r\n1027\u20131038, 2010. [8] R. DeSantis, \u201cPath-tracking for car-like robots with single and double\r\nsteering,\u201d IEEE Transactions on vehicular technology, vol. 44, no. 2,\r\npp. 366\u2013377, 1995.\r\n[9] J. M. Mu,azu, S. Sudin, Z. Mohamed, A. Yusuf, A. D. Usman, and\r\nA. U. Hassan, \u201cAn improved topology model for two-vehicle look-ahead\r\nand rear-vehicle convoy control,\u201d IEEE 3rd International Conference\r\non Electro-Technology for National Development (NIGERCON), vol. 6,\r\np. 0, 2017.\r\n[10] L. Nouveliere, J. S. Marie, and S. M. an N K M\u2019Sirdi, \u201cControle\r\nlongitudinal de vehicules par commande sous optimale,\u201d in CIFA 2002.\r\nNantes Juillet, 2002, pp. 906\u2013911.\r\n[11] R. E. Caicedo, J. Valasek, and J. L. Junkins, \u201cPreliminary results of\r\none-dimensional vehicle formation control using a structural analogy,\u201d\r\nin American Control Conference, 2003. Proceedings of the 2003, vol. 6.\r\nIEEE, 2003, pp. 4687\u20134692.\r\n[12] J. Yazbeck, A. Scheuer, and F. Charpillet, \u201cDecentralized near-to-near\r\napproach for vehicle platooning based on memorization and heuristic\r\nsearch,\u201d in 2014 IEEE International Conference on Robotics and\r\nAutomation (ICRA). IEEE, 2014, pp. 631\u2013638.\r\n[13] M. E. Khatir and E. J. Davison, \u201cDecentralized control of a large\r\nplatoon of vehicles using non-identical controllers,\u201d in American Control\r\nConference, 2004. Proceedings of the 2004, vol. 3. IEEE, 2004, pp.\r\n2769\u20132776.\r\n[14] X. Qian, F. A. A. de La Fortelle, and F. Moutarde, \u201cA distributed model\r\npredictive control framework for road-following formation control of\r\ncar-like vehicles,\u201d in arXiv:1605.00026v1 [cs.RO] 29 Apr 2016, 2016.\r\n[15] A. Rabhi, N. M\u2019Sirdi, A. Naamane, and B. Jaballah, \u201cEstimation\r\nof contact forces and road profile using high-order sliding modes,\u201d\r\nInternational Journal of Vehicle Autonomous Systems, vol. 8, no. 1, pp.\r\n23\u201338, 2010.\r\n[16] B. Jaballah, N. K. M\u2019sirdi, A. Naamane, and H. Messaoud, \u201cEstimation\r\nof vehicle longitudinal tire force with fosmo & sosmo,\u201d International\r\nJournal on Sciences and Techniques of Automatic control and computer\r\nengineering, IJSTA, page `a paraitre, 2011.\r\n[17] \u201cSCANeR studio,\u201d https:\/\/www.avsimulation.fr\/solutions\/studio, 2019.\r\n[18] B. Jaballah, \u201cObservateurs robustes pour le diagnostic et la\r\ndynamique des v\u00b4ehicules,\u201d Ph.D. dissertation, Universit\u00b4e Paul\r\nC\u00b4ezanne-Aix-Marseille III, 2011.\r\n[19] A. Chebly, \u201cTrajectory planning and tracking for autonomous\r\nvehicles navigation,\u201d Ph.D. dissertation, Universit\u00b4e de Technologie de\r\nCompi`egne, 2017.\r\n[20] M. MohamedAhmed, A. Naamane, and N. K. MSirdi, \u201cPath tracking\r\nfor the convoy of autonomous vehicles based on a non-linear predictive\r\ncontrol,\u201d in The 12th International Conference on Integrated Modeling\r\nand Analysis in Applied Control and Automation, IMAACA 2019. 18-20\r\nSeptember, Lisbon Portugal, 2019, pp. 1\u20137.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 161, 2020"}