Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31100
Non-Linear Control Based on State Estimation for the Convoy of Autonomous Vehicles

Authors: M-M. Mohamed Ahmed, Nacer K. M’Sirdi, Aziz Naamane


In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently addressed in the literature for the control of multi vehicles. The modeling of the convoy of the vehicles is revisited using a robotic method for simulation purposes and control design. With these models, a sliding mode observer is proposed to estimate the states of each vehicle in the convoy from the available sensors, then a sliding mode control based on this observer is used to control the longitudinal and lateral movement. The validation and performance evaluation are done using the well-known driving simulator Scanner-Studio. The results are presented for different maneuvers of 5 vehicles.

Keywords: Nonlinear Control, autonomous vehicles, sliding mode, nonlinear observer, convoy

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 251


[1] P. Avanzini, B. Thuilot, and P. Martinet, “Accurate platoon control of urban vehicles, based solely on monocular vision,” in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. IEEE, 2010, pp. 6077–6082.
[2] A. Ali, G. Garcia, and P. Martinet, “Urban platooning using a flatbed tow truck model,” in Intelligent Vehicles Symposium (IV), 2015 IEEE. IEEE, 2015, pp. 374–379.
[3] D. Swaroop, “String stability of interconnected systems : An application to platooning in ahs,” Ph.D. dissertation, University of California at Berkeley, 1994.
[4] P. Avanzini, “Mod´elisation et commande d’un convoi de v´ehicules urbains par vision,” Ph.D. dissertation, Universit´e Blaise Pascal-Clermont-Ferrand II, 2010.
[5] A. Ali, “Mod´elisation et commande d’un convoi de v´ehicules urbains,” Ph.D. dissertation, Universit Nantes Angers Le Mans, 2015.
[6] P. Daviet and M. Parent, “Longitudinal and lateral servoing of vehicles in a platoon,” in Intelligent Vehicles Symposium, 1996., Proceedings of the 1996 IEEE. IEEE, 1996, pp. 41–46.
[7] J. Xiang and T. Br¨aunl, “String formations of multiple vehicles via pursuit strategy,” IET control theory & applications, vol. 4, no. 6, pp. 1027–1038, 2010.
[8] R. DeSantis, “Path-tracking for car-like robots with single and double steering,” IEEE Transactions on vehicular technology, vol. 44, no. 2, pp. 366–377, 1995.
[9] J. M. Mu,azu, S. Sudin, Z. Mohamed, A. Yusuf, A. D. Usman, and A. U. Hassan, “An improved topology model for two-vehicle look-ahead and rear-vehicle convoy control,” IEEE 3rd International Conference on Electro-Technology for National Development (NIGERCON), vol. 6, p. 0, 2017.
[10] L. Nouveliere, J. S. Marie, and S. M. an N K M’Sirdi, “Controle longitudinal de vehicules par commande sous optimale,” in CIFA 2002. Nantes Juillet, 2002, pp. 906–911.
[11] R. E. Caicedo, J. Valasek, and J. L. Junkins, “Preliminary results of one-dimensional vehicle formation control using a structural analogy,” in American Control Conference, 2003. Proceedings of the 2003, vol. 6. IEEE, 2003, pp. 4687–4692.
[12] J. Yazbeck, A. Scheuer, and F. Charpillet, “Decentralized near-to-near approach for vehicle platooning based on memorization and heuristic search,” in 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014, pp. 631–638.
[13] M. E. Khatir and E. J. Davison, “Decentralized control of a large platoon of vehicles using non-identical controllers,” in American Control Conference, 2004. Proceedings of the 2004, vol. 3. IEEE, 2004, pp. 2769–2776.
[14] X. Qian, F. A. A. de La Fortelle, and F. Moutarde, “A distributed model predictive control framework for road-following formation control of car-like vehicles,” in arXiv:1605.00026v1
[cs.RO] 29 Apr 2016, 2016.
[15] A. Rabhi, N. M’Sirdi, A. Naamane, and B. Jaballah, “Estimation of contact forces and road profile using high-order sliding modes,” International Journal of Vehicle Autonomous Systems, vol. 8, no. 1, pp. 23–38, 2010.
[16] B. Jaballah, N. K. M’sirdi, A. Naamane, and H. Messaoud, “Estimation of vehicle longitudinal tire force with fosmo & sosmo,” International Journal on Sciences and Techniques of Automatic control and computer engineering, IJSTA, page `a paraitre, 2011.
[17] “SCANeR studio,”, 2019.
[18] B. Jaballah, “Observateurs robustes pour le diagnostic et la dynamique des v´ehicules,” Ph.D. dissertation, Universit´e Paul C´ezanne-Aix-Marseille III, 2011.
[19] A. Chebly, “Trajectory planning and tracking for autonomous vehicles navigation,” Ph.D. dissertation, Universit´e de Technologie de Compi`egne, 2017.
[20] M. MohamedAhmed, A. Naamane, and N. K. MSirdi, “Path tracking for the convoy of autonomous vehicles based on a non-linear predictive control,” in The 12th International Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2019. 18-20 September, Lisbon Portugal, 2019, pp. 1–7.