Adaptive Path-Tracking Control With Passivity-Based Observer by Port-Hamiltonian Model for Autonomous Vehicles

Authors

Yan Ma, Liang He, Ting Song, Danwei Wang

Abstract

A port-Hamiltonian model is suitable to represent the dynamics of many physical processes, which has an essential feature of underscoring a significance of an energy function, an interconnection pattern, and a dissipation for physical systems. Hence, adaptive path-tracking control with a passivity-based observer is designed by the port-Hamiltonian model for autonomous vehicles in this article. Firstly, a passivity-based observer of lateral velocity is established by designing a gain matrix to assign the interconnection and damping parts, which makes an observation error system transform into a desired port-Hamiltonian system and renders the observer passive. At the same time, it’s convergence and stability analysis is given. Then, a port-Hamiltonian model with perturbations and actuator saturations is constructed to describe lateral vehicle dynamics in terms of tracking errors for path-tracking, and an L2-gain disturbance attenuation strategy is developed to overcome the adverse influence caused of external disturbances. Furthermore, the robust stability of the controller is proved in the presence of observation errors and external disturbances. Finally, simulations and experiments are performed to demonstrate the effectiveness of the proposed control strategy.

Citation

• Journal: IEEE Transactions on Intelligent Vehicles
• Year: 2023
• Volume: 8
• Issue: 8
• Pages: 4120–4130
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tiv.2023.3290556

BibTeX

@article{Ma_2023,
  title={{Adaptive Path-Tracking Control With Passivity-Based Observer by Port-Hamiltonian Model for Autonomous Vehicles}},
  volume={8},
  ISSN={2379-8858},
  DOI={10.1109/tiv.2023.3290556},
  number={8},
  journal={IEEE Transactions on Intelligent Vehicles},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Ma, Yan and He, Liang and Song, Ting and Wang, Danwei},
  year={2023},
  pages={4120--4130}
}

Download the bib file

References

• Imine, H. & Madani, T. Sliding‐mode control for automated lane guidance of heavy vehicle. International Journal of Robust and Nonlinear Control vol. 23 67–76 (2011) – 10.1002/rnc.1818
• Nguyen, A.-T., Sentouh, C. & Popieul, J.-C. Sensor Reduction for Driver-Automation Shared Steering Control via an Adaptive Authority Allocation Strategy. IEEE/ASME Transactions on Mechatronics vol. 23 5–16 (2018) – 10.1109/tmech.2017.2698216
• Hu, C. et al. Lane Keeping Control of Autonomous Vehicles With Prescribed Performance Considering the Rollover Prevention and Input Saturation. IEEE Transactions on Intelligent Transportation Systems vol. 21 3091–3103 (2020) – 10.1109/tits.2019.2924937
• Hu, C. et al. MME-EKF-Based Path-Tracking Control of Autonomous Vehicles Considering Input Saturation. IEEE Transactions on Vehicular Technology vol. 68 5246–5259 (2019) – 10.1109/tvt.2019.2907696
• Wang, X., Fu, M., Ma, H. & Yang, Y. Lateral control of autonomous vehicles based on fuzzy logic. Control Engineering Practice vol. 34 1–17 (2015) – 10.1016/j.conengprac.2014.09.015
• Zhang, X. & Zhu, X. Autonomous path tracking control of intelligent electric vehicles based on lane detection and optimal preview method. Expert Systems with Applications vol. 121 38–48 (2019) – 10.1016/j.eswa.2018.12.005
• Hu, C., Chen, Y. & Wang, J. Fuzzy Observer-Based Transitional Path-Tracking Control for Autonomous Vehicles. IEEE Transactions on Intelligent Transportation Systems vol. 22 3078–3088 (2021) – 10.1109/tits.2020.2979431
• Wang, R., Jing, H., Hu, C., Yan, F. & Chen, N. Robust \(H_{\infty}\) Path Following Control for Autonomous Ground Vehicles With Delay and Data Dropout. IEEE Transactions on Intelligent Transportation Systems vol. 17 2042–2050 (2016) – 10.1109/tits.2015.2498157
• Zuo, Z. et al. MPC-Based Cooperative Control Strategy of Path Planning and Trajectory Tracking for Intelligent Vehicles. IEEE Transactions on Intelligent Vehicles vol. 6 513–522 (2021) – 10.1109/tiv.2020.3045837
• Zhou, X., Wang, Z., Shen, H. & Wang, J. Robust Adaptive Path-Tracking Control of Autonomous Ground Vehicles With Considerations of Steering System Backlash. IEEE Transactions on Intelligent Vehicles vol. 7 315–325 (2022) – 10.1109/tiv.2022.3146085
• Byrnes, C. I., Isidori, A. & Willems, J. C. Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems. IEEE Transactions on Automatic Control vol. 36 1228–1240 (1991) – 10.1109/9.100932
• LaSalle, J. Some Extensions of Liapunov’s Second Method. IRE Transactions on Circuit Theory vol. 7 520–527 (1960) – 10.1109/tct.1960.1086720
• Isidori, A. Nonlinear Control Systems II. Communications and Control Engineering (Springer London, 1999). doi:10.1007/978-1-4471-0549-7 – 10.1007/978-1-4471-0549-7
• van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7 – 10.1007/978-1-4471-0507-7
• Li, K., Tan, H.-S., Misener, J. & Hedrick, J. K. Digital map as a virtual sensor - dynamic road curve reconstruction for a curve speed assistant. Vehicle System Dynamics vol. 46 1141–1158 (2008) – 10.1080/00423110701837110
• Ma, Y., Chen, J., Zhu, X. & Xu, Y. Lateral stability integrated with energy efficiency control for electric vehicles. Mechanical Systems and Signal Processing vol. 127 1–15 (2019) – 10.1016/j.ymssp.2019.02.057
• Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control vol. 10 432–450 (2004) – 10.3166/ejc.10.432-450
• Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Transactions on Automatic Control vol. 53 2527–2542 (2008) – 10.1109/tac.2008.2006930
• zhang, A novel fuzzy observer-based steering control. IEEE Trans Fuzzy Syst (2019)
• Shojaei, K. A prescribed performance PID control of robotic cars with only posture measurements considering path curvature. European Journal of Control vol. 65 100616 (2022) – 10.1016/j.ejcon.2022.100616
• Shojaei, K. Neural adaptive PID formation control of car-like mobile robots without velocity measurements. Advanced Robotics vol. 31 947–964 (2017) – 10.1080/01691864.2017.1368413
• Sharp, R. S. Rider control of a motorcycle near to its cornering limits. Vehicle System Dynamics vol. 50 1193–1208 (2012) – 10.1080/00423114.2011.607899
• Geller, S., Avrahami, I. & Shvalb, N. Control of autonomous vehicles flow using imposed speed profiles. Journal of Intelligent Transportation Systems vol. 26 529–543 (2021) – 10.1080/15472450.2021.1932495
• Liu, Z., Cheng, S., Ji, X., Li, L. & Wei, L. A Hierarchical Anti-Disturbance Path Tracking Control Scheme for Autonomous Vehicles Under Complex Driving Conditions. IEEE Transactions on Vehicular Technology vol. 70 11244–11254 (2021) – 10.1109/tvt.2021.3112524
• Hang, P., Chen, X. & Wang, W. Cooperative Control Framework for Human Driver and Active Rear Steering System to Advance Active Safety. IEEE Transactions on Intelligent Vehicles vol. 6 460–469 (2021) – 10.1109/tiv.2020.3037955
• Ji, J., Khajepour, A., Melek, W. W. & Huang, Y. Path Planning and Tracking for Vehicle Collision Avoidance Based on Model Predictive Control With Multiconstraints. IEEE Transactions on Vehicular Technology vol. 66 952–964 (2017) – 10.1109/tvt.2016.2555853
• Adaptive Energy-Efficient Control Allocation for Planar Motion Control of Over-Actuated Electric Ground Vehicles. IEEE Transactions on Control Systems Technology vol. 22 1362–1373 (2014) – 10.1109/tcst.2013.2287560
• Yaghmaei, A. & Yazdanpanah, M. J. Structure Preserving Observer Design for Port-Hamiltonian Systems. IEEE Transactions on Automatic Control vol. 64 1214–1220 (2019) – 10.1109/tac.2018.2847904
• Benmouna, A., Becherif, M., Boulon, L., Dépature, C. & Ramadan, H. S. Efficient experimental energy management operating for FC/battery/SC vehicles via hybrid Artificial Neural Networks-Passivity Based Control. Renewable Energy vol. 178 1291–1302 (2021) – 10.1016/j.renene.2021.06.038
• Uddin, M. N., Zhai, Z. & Amin, I. K. Port Controlled Hamilton With Dissipation-Based Speed Control of IPMSM Drive. IEEE Transactions on Power Electronics vol. 35 1742–1752 (2020) – 10.1109/tpel.2019.2918679
• Biedermann, B. & Meurer, T. Observer design for a class of nonlinear systems combining dissipativity with interconnection and damping assignment. International Journal of Robust and Nonlinear Control vol. 31 4064–4080 (2021) – 10.1002/rnc.5461
• Nageshrao, S. P., Lopes, G. A. D., Jeltsema, D. & Babuska, R. Port-Hamiltonian Systems in Adaptive and Learning Control: A Survey. IEEE Transactions on Automatic Control vol. 61 1223–1238 (2016) – 10.1109/tac.2015.2458491
• Habibnejad Korayem, A., Khajepour, A. & Fidan, B. Vehicle-trailer lateral velocity estimation using constrained unscented transformation. Vehicle System Dynamics vol. 60 1048–1075 (2020) – 10.1080/00423114.2020.1849745
• Zhang, X., Lu, Z., Yuan, X., Wang, Y. & Shen, X. L2-Gain Adaptive Robust Control for Hybrid Energy Storage System in Electric Vehicles. IEEE Transactions on Power Electronics vol. 36 7319–7332 (2021) – 10.1109/tpel.2020.3041653
• Dai, S., Zhang, Z. & Koutsoukos, X. A model-based design approach for simulation and virtual prototyping of automotive control systems using port-Hamiltonian systems. Software & Systems Modeling vol. 18 1637–1653 (2017) – 10.1007/s10270-017-0646-1
• Jo, K., Kim, J., Kim, D., Jang, C. & Sunwoo, M. Development of Autonomous Car—Part II: A Case Study on the Implementation of an Autonomous Driving System Based on Distributed Architecture. IEEE Transactions on Industrial Electronics vol. 62 5119–5132 (2015) – 10.1109/tie.2015.2410258
• Chen, H. & Lv, C. Online Learning-Informed Feedforward-Feedback Controller Synthesis for Path Tracking of Autonomous Vehicles. IEEE Transactions on Intelligent Vehicles vol. 8 2759–2769 (2023) – 10.1109/tiv.2022.3232804
• Rajamani, R. Vehicle Dynamics and Control. Mechanical Engineering Series (Springer US, 2012). doi:10.1007/978-1-4614-1433-9 – 10.1007/978-1-4614-1433-9
• Wang, Y., Feng, G., Cheng, D. & Liu, Y. Adaptive \(L_{2}\) disturbance attenuation control of multi-machine power systems with SMES units. Automatica vol. 42 1121–1132 (2006) – 10.1016/j.automatica.2006.03.014
• Ma, Y., Chen, J., Wang, J., Xu, Y. & Wang, Y. Path-Tracking Considering Yaw Stability With Passivity-Based Control for Autonomous Vehicles. IEEE Transactions on Intelligent Transportation Systems vol. 23 8736–8746 (2022) – 10.1109/tits.2021.3085713
• Tagne, G., Talj, R. & Charara, A. Design and Comparison of Robust Nonlinear Controllers for the Lateral Dynamics of Intelligent Vehicles. IEEE Transactions on Intelligent Transportation Systems vol. 17 796–809 (2016) – 10.1109/tits.2015.2486815
• Zhang, J. et al. Command-filter-adaptive-based lateral motion control for autonomous vehicle. Control Engineering Practice vol. 121 105044 (2022) – 10.1016/j.conengprac.2021.105044
• Peng, Y., Chen, J. & Ma, Y. Observer-based estimation of velocity and tire-road friction coefficient for vehicle control systems. Nonlinear Dynamics vol. 96 363–387 (2019) – 10.1007/s11071-019-04794-0
• Guo, H., Shen, C., Zhang, H., Chen, H. & Jia, R. Simultaneous Trajectory Planning and Tracking Using an MPC Method for Cyber-Physical Systems: A Case Study of Obstacle Avoidance for an Intelligent Vehicle. IEEE Transactions on Industrial Informatics vol. 14 4273–4283 (2018) – 10.1109/tii.2018.2815531
• Chen, J., Wu, C., Yu, G., Narang, D. & Wang, Y. Path Following of Wheeled Mobile Robots Using Online-Optimization-Based Guidance Vector Field. IEEE/ASME Transactions on Mechatronics vol. 26 1737–1744 (2021) – 10.1109/tmech.2021.3077911
• Qi, Z. et al. Learning-Based Path Planning and Predictive Control for Autonomous Vehicles With Low-Cost Positioning. IEEE Transactions on Intelligent Vehicles vol. 8 1093–1104 (2023) – 10.1109/tiv.2022.3146972
• Wang, Z., Zhou, X. & Wang, J. Extremum-Seeking-Based Adaptive Model-Free Control and Its Application to Automated Vehicle Path Tracking. IEEE/ASME Transactions on Mechatronics vol. 27 3874–3884 (2022) – 10.1109/tmech.2022.3146727
• Yu, Y., Guo, C. & Li, T. Finite-Time LOS Path Following of Unmanned Surface Vessels With Time-Varying Sideslip Angles and Input Saturation. IEEE/ASME Transactions on Mechatronics vol. 27 463–474 (2022) – 10.1109/tmech.2021.3066211
• Guo, H., Chen, H., Xu, F., Wang, F. & Lu, G. Implementation of EKF for Vehicle Velocities Estimation on FPGA. IEEE Transactions on Industrial Electronics vol. 60 3823–3835 (2013) – 10.1109/tie.2012.2208436