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A Novel Nonlinear Adaptive Control Method for Longitudinal Speed Control for Four-Independent-Wheel Autonomous Vehicles

Author

Listed:
  • Jinhua Zhang

    (Mechanical and Electrical Engineering Department, Guangzhou University, Guangzhou 510006, China)

  • Zhenghao Chen

    (Mechanical and Electrical Engineering Department, Guangzhou University, Guangzhou 510006, China)

  • Jinshi Yu

    (Mechanical and Electrical Engineering Department, Guangzhou University, Guangzhou 510006, China)

Abstract
As autonomous driving technology and four-independent-wheel chassis systems advance, four-independent-wheel autonomous vehicles have increasingly become a focal area of modern research. The longitudinal control problem for four-independent-wheel autonomous vehicles presents challenges such as complex models, high nonlinearity, and strong system uncertainties. This paper proposes a novel hierarchical control algorithm to address these challenges, innovatively combining the advantages of adaptive backstepping and dynamic sliding mode control algorithms in the upper controller, allowing it to effectively overcome the impact of uncertain system parameters and suppress the common chattering phenomenon in the output of typical sliding mode control methods. Based on the design of the upper controller, an innovative optimized longitudinal force distribution strategy and the construction of a tire reverse longitudinal slip model are proposed, followed by the design of a fuzzy PID controller as the lower slip ratio controller to achieve precise whole-vehicle longitudinal speed tracking and improve overall control performance. This method not only improves the accuracy of speed tracking but also enhances the robustness and adaptability of the control system. Finally, the effectiveness and superiority of the proposed hierarchical control method are verified through CarSim simulations.

Suggested Citation

  • Jinhua Zhang & Zhenghao Chen & Jinshi Yu, 2024. "A Novel Nonlinear Adaptive Control Method for Longitudinal Speed Control for Four-Independent-Wheel Autonomous Vehicles," Mathematics, MDPI, vol. 12(22), pages 1-17, November.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:22:p:3509-:d:1517679
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