Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode
Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Sun, Zhe [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2021 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2021 |
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| Übergeordnetes Werk: |
Enthalten in: Neural computing & applications - London : Springer, 1993, 34(2021), 7 vom: 17. Mai, Seite 5135-5150 |
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| Übergeordnetes Werk: |
volume:34 ; year:2021 ; number:7 ; day:17 ; month:05 ; pages:5135-5150 |
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| DOI / URN: |
10.1007/s00521-021-06101-8 |
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| Katalog-ID: |
SPR046486887 |
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| 245 | 1 | 0 | |a Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode |
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| 520 | |a Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral dynamics in path-tracking behavior. Afterwards, detailed design procedure of the proposed controller is shown, where the control system’s stability is verified in the Lyapunov sense. Finally, MATLAB-Carsim co-simulations are executed for the aim of testing the control performance. Simulation results illustrate that the designed control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate and firmer robustness in comparison with a conventional sliding mode controller and a nonsingular terminal sliding mode controller. | ||
| 650 | 4 | |a Autonomous vehicle |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Neural networks |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Fast nonsingular terminal sliding mode |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Vehicle dynamics and control |7 (dpeaa)DE-He213 | |
| 700 | 1 | |a Zou, Jiayang |4 aut | |
| 700 | 1 | |a He, Defeng |4 aut | |
| 700 | 1 | |a Zhu, Wei |4 aut | |
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10.1007/s00521-021-06101-8 doi (DE-627)SPR046486887 (SPR)s00521-021-06101-8-e DE-627 ger DE-627 rakwb eng Sun, Zhe verfasserin aut Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2021 Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral dynamics in path-tracking behavior. Afterwards, detailed design procedure of the proposed controller is shown, where the control system’s stability is verified in the Lyapunov sense. Finally, MATLAB-Carsim co-simulations are executed for the aim of testing the control performance. Simulation results illustrate that the designed control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate and firmer robustness in comparison with a conventional sliding mode controller and a nonsingular terminal sliding mode controller. Autonomous vehicle (dpeaa)DE-He213 Neural networks (dpeaa)DE-He213 Fast nonsingular terminal sliding mode (dpeaa)DE-He213 Vehicle dynamics and control (dpeaa)DE-He213 Zou, Jiayang aut He, Defeng aut Zhu, Wei aut Enthalten in Neural computing & applications London : Springer, 1993 34(2021), 7 vom: 17. Mai, Seite 5135-5150 (DE-627)271595574 (DE-600)1480526-1 1433-3058 nnns volume:34 year:2021 number:7 day:17 month:05 pages:5135-5150 https://dx.doi.org/10.1007/s00521-021-06101-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 34 2021 7 17 05 5135-5150 |
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10.1007/s00521-021-06101-8 doi (DE-627)SPR046486887 (SPR)s00521-021-06101-8-e DE-627 ger DE-627 rakwb eng Sun, Zhe verfasserin aut Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2021 Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral dynamics in path-tracking behavior. Afterwards, detailed design procedure of the proposed controller is shown, where the control system’s stability is verified in the Lyapunov sense. Finally, MATLAB-Carsim co-simulations are executed for the aim of testing the control performance. Simulation results illustrate that the designed control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate and firmer robustness in comparison with a conventional sliding mode controller and a nonsingular terminal sliding mode controller. Autonomous vehicle (dpeaa)DE-He213 Neural networks (dpeaa)DE-He213 Fast nonsingular terminal sliding mode (dpeaa)DE-He213 Vehicle dynamics and control (dpeaa)DE-He213 Zou, Jiayang aut He, Defeng aut Zhu, Wei aut Enthalten in Neural computing & applications London : Springer, 1993 34(2021), 7 vom: 17. Mai, Seite 5135-5150 (DE-627)271595574 (DE-600)1480526-1 1433-3058 nnns volume:34 year:2021 number:7 day:17 month:05 pages:5135-5150 https://dx.doi.org/10.1007/s00521-021-06101-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 34 2021 7 17 05 5135-5150 |
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10.1007/s00521-021-06101-8 doi (DE-627)SPR046486887 (SPR)s00521-021-06101-8-e DE-627 ger DE-627 rakwb eng Sun, Zhe verfasserin aut Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2021 Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral dynamics in path-tracking behavior. Afterwards, detailed design procedure of the proposed controller is shown, where the control system’s stability is verified in the Lyapunov sense. Finally, MATLAB-Carsim co-simulations are executed for the aim of testing the control performance. Simulation results illustrate that the designed control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate and firmer robustness in comparison with a conventional sliding mode controller and a nonsingular terminal sliding mode controller. Autonomous vehicle (dpeaa)DE-He213 Neural networks (dpeaa)DE-He213 Fast nonsingular terminal sliding mode (dpeaa)DE-He213 Vehicle dynamics and control (dpeaa)DE-He213 Zou, Jiayang aut He, Defeng aut Zhu, Wei aut Enthalten in Neural computing & applications London : Springer, 1993 34(2021), 7 vom: 17. Mai, Seite 5135-5150 (DE-627)271595574 (DE-600)1480526-1 1433-3058 nnns volume:34 year:2021 number:7 day:17 month:05 pages:5135-5150 https://dx.doi.org/10.1007/s00521-021-06101-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 34 2021 7 17 05 5135-5150 |
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10.1007/s00521-021-06101-8 doi (DE-627)SPR046486887 (SPR)s00521-021-06101-8-e DE-627 ger DE-627 rakwb eng Sun, Zhe verfasserin aut Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2021 Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral dynamics in path-tracking behavior. Afterwards, detailed design procedure of the proposed controller is shown, where the control system’s stability is verified in the Lyapunov sense. Finally, MATLAB-Carsim co-simulations are executed for the aim of testing the control performance. Simulation results illustrate that the designed control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate and firmer robustness in comparison with a conventional sliding mode controller and a nonsingular terminal sliding mode controller. Autonomous vehicle (dpeaa)DE-He213 Neural networks (dpeaa)DE-He213 Fast nonsingular terminal sliding mode (dpeaa)DE-He213 Vehicle dynamics and control (dpeaa)DE-He213 Zou, Jiayang aut He, Defeng aut Zhu, Wei aut Enthalten in Neural computing & applications London : Springer, 1993 34(2021), 7 vom: 17. Mai, Seite 5135-5150 (DE-627)271595574 (DE-600)1480526-1 1433-3058 nnns volume:34 year:2021 number:7 day:17 month:05 pages:5135-5150 https://dx.doi.org/10.1007/s00521-021-06101-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 34 2021 7 17 05 5135-5150 |
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10.1007/s00521-021-06101-8 doi (DE-627)SPR046486887 (SPR)s00521-021-06101-8-e DE-627 ger DE-627 rakwb eng Sun, Zhe verfasserin aut Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2021 Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral dynamics in path-tracking behavior. Afterwards, detailed design procedure of the proposed controller is shown, where the control system’s stability is verified in the Lyapunov sense. Finally, MATLAB-Carsim co-simulations are executed for the aim of testing the control performance. Simulation results illustrate that the designed control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate and firmer robustness in comparison with a conventional sliding mode controller and a nonsingular terminal sliding mode controller. Autonomous vehicle (dpeaa)DE-He213 Neural networks (dpeaa)DE-He213 Fast nonsingular terminal sliding mode (dpeaa)DE-He213 Vehicle dynamics and control (dpeaa)DE-He213 Zou, Jiayang aut He, Defeng aut Zhu, Wei aut Enthalten in Neural computing & applications London : Springer, 1993 34(2021), 7 vom: 17. Mai, Seite 5135-5150 (DE-627)271595574 (DE-600)1480526-1 1433-3058 nnns volume:34 year:2021 number:7 day:17 month:05 pages:5135-5150 https://dx.doi.org/10.1007/s00521-021-06101-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 34 2021 7 17 05 5135-5150 |
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Sun, Zhe @@aut@@ Zou, Jiayang @@aut@@ He, Defeng @@aut@@ Zhu, Wei @@aut@@ |
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Sun, Zhe |
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Sun, Zhe misc Autonomous vehicle misc Neural networks misc Fast nonsingular terminal sliding mode misc Vehicle dynamics and control Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode |
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Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode Autonomous vehicle (dpeaa)DE-He213 Neural networks (dpeaa)DE-He213 Fast nonsingular terminal sliding mode (dpeaa)DE-He213 Vehicle dynamics and control (dpeaa)DE-He213 |
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path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode |
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Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode |
| abstract |
Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral dynamics in path-tracking behavior. Afterwards, detailed design procedure of the proposed controller is shown, where the control system’s stability is verified in the Lyapunov sense. Finally, MATLAB-Carsim co-simulations are executed for the aim of testing the control performance. Simulation results illustrate that the designed control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate and firmer robustness in comparison with a conventional sliding mode controller and a nonsingular terminal sliding mode controller. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2021 |
| abstractGer |
Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral dynamics in path-tracking behavior. Afterwards, detailed design procedure of the proposed controller is shown, where the control system’s stability is verified in the Lyapunov sense. Finally, MATLAB-Carsim co-simulations are executed for the aim of testing the control performance. Simulation results illustrate that the designed control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate and firmer robustness in comparison with a conventional sliding mode controller and a nonsingular terminal sliding mode controller. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2021 |
| abstract_unstemmed |
Abstract In this paper, a double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode control strategy is developed for path-tracking tasks of autonomous vehicles. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle’s fundamental lateral dynamics in path-tracking behavior. Afterwards, detailed design procedure of the proposed controller is shown, where the control system’s stability is verified in the Lyapunov sense. Finally, MATLAB-Carsim co-simulations are executed for the aim of testing the control performance. Simulation results illustrate that the designed control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate and firmer robustness in comparison with a conventional sliding mode controller and a nonsingular terminal sliding mode controller. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2021 |
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Path-tracking control for autonomous vehicles using double-hidden-layer output feedback neural network fast nonsingular terminal sliding mode |
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https://dx.doi.org/10.1007/s00521-021-06101-8 |
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Zou, Jiayang He, Defeng Zhu, Wei |
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Zou, Jiayang He, Defeng Zhu, Wei |
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| doi_str |
10.1007/s00521-021-06101-8 |
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2024-07-03T22:50:11.251Z |
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