M-M. Mohamed Ahmed and Nacer K. M’Sirdi and Aziz Naamane
NonLinear Control Based on State Estimation for the Convoy of Autonomous Vehicles
129 - 137
2020
14
5
International Journal of Electrical and Computer Engineering
https://publications.waset.org/pdf/10011221
https://publications.waset.org/vol/161
World Academy of Science, Engineering and Technology
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 wellknown driving simulator ScannerStudio. The results are
presented for different maneuvers of 5 vehicles.
Open Science Index 161, 2020