Disturbance Observer for Lateral Trajectory Tracking Control for Autonomous and Cooperative Driving
In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.
[1] K. Ohnishi, “A new servo method in mechatronics,” Trans. Jpn. Soc.
Elect. Eng, vol. 107, pp. 83–86, 1987.
[2] J. Ackermann, J. Guldner, W. Sienel, R. Steinhauser, and V. I. Utkin,
“Linear and nonlinear controller design for robust automatic steering,”
Control Systems Technology, IEEE Transactions on, vol. 3, no. 1, pp.
132–143, 1995.
[3] M. Werling, L. Groll, and G. Bretthauer, “Invariant trajectory tracking ¨
with a full-size autonomous road vehicle,” IEEE Transactions on
Robotics, vol. 26, no. 4, pp. 758–765, 2010.
[4] R. Attia, R. Orjuela, and M. Basset, “Coupled longitudinal and lateral
control strategy improving lateral stability for autonomous vehicle,”
in American Control Conference (ACC), 2012. IEEE, 2012, pp.
6509–6514.
[5] P. Riekert and T.-E. Schunck, “Zur Fahrmechanik des gummibereiften
Kraftfahrzeugs,” Ingenieur-Archiv, vol. 11, no. 3, pp. 210–224, 1940.
[6] M. Walter, N. Nitzsche, D. Odenthal, and S. Muller, “Lateral vehicle ¨
guidance control for autonomous and cooperative driving,” in Proc.
European Control Conference. European Control Conference, 2014,
pp. 2667–2672.
[7] B. A. Guvenc ¨ ¸, L. Guvenc ¨ ¸, and S. Karaman, “Robust MIMO disturbance
observer analysis and design with application to active car steering,”
International Journal of Robust and Nonlinear Control, vol. 20, no. 8,
pp. 873–891, 2010.
[8] T. Umeno and Y. Hori, “Robust speed control of DC servomotors
using modern two degrees-of-freedom controller design,” Industrial
Electronics, IEEE Transactions on, vol. 38, no. 5, pp. 363–368, 1991.
[9] S.-K. Park and S.-H. Lee, “Disturbance observer based robust control
for industrial robots with flexible joints,” in Control, Automation and
Systems, 2007. ICCAS’07. International Conference on. IEEE, 2007,
pp. 584–589.
[10] S. M. Shahruz, “Suppression of effects of nonlinearities by disturbance
observers,” in American Control Conference, 2004. Proceedings of the
2004, vol. 5. IEEE, 2004, pp. 4342–4347.
[11] H. Shim and N. H. Jo, “An almost necessary and sufficient condition
for robust stability of closed-loop systems with disturbance observer,”
Automatica, vol. 45, no. 1, pp. 296–299, 2009.
[12] B. A. Guvenc, T. Bunte, D. Odenthal, and L. Guvenc, “Robust two
degree-of-freedom vehicle steering controller design,” Control Systems
Technology, IEEE Transactions on, vol. 12, no. 4, pp. 627–636, 2004.
[13] C. Rathgeber, F. Winkler, D. Odenthal, and S. Muller, “Lateral trajectory ¨
tracking control for autonomous vehicles,” in Proc. European Control
Conference. European Control Conference, 2014, pp. 1024–1029.
[14] N. Hogan, “Impedance control: An approach to manipulation,” in
American Control Conference, 1984. IEEE, 1984, pp. 304–313.
[15] J. Ackermann and P. Blue, Robust control: the parameter space
approach. Springer, 2002.
[16] J. Ackermann, A. Bartlett, D. Kaesbauer, W. Sienel, and R. Steinhauser,
Robust control. Springer, 1993.
[17] W. Sienel, T. Bunte, and J. Ackermann, “Paradise-parametric robust
analysis and design interactive software environment: A matlab-based
robust control toolbox,” in Computer-Aided Control System Design,
1996., Proceedings of the 1996 IEEE International Symposium on.
IEEE, 1996, pp. 380–385.
[1] K. Ohnishi, “A new servo method in mechatronics,” Trans. Jpn. Soc.
Elect. Eng, vol. 107, pp. 83–86, 1987.
[2] J. Ackermann, J. Guldner, W. Sienel, R. Steinhauser, and V. I. Utkin,
“Linear and nonlinear controller design for robust automatic steering,”
Control Systems Technology, IEEE Transactions on, vol. 3, no. 1, pp.
132–143, 1995.
[3] M. Werling, L. Groll, and G. Bretthauer, “Invariant trajectory tracking ¨
with a full-size autonomous road vehicle,” IEEE Transactions on
Robotics, vol. 26, no. 4, pp. 758–765, 2010.
[4] R. Attia, R. Orjuela, and M. Basset, “Coupled longitudinal and lateral
control strategy improving lateral stability for autonomous vehicle,”
in American Control Conference (ACC), 2012. IEEE, 2012, pp.
6509–6514.
[5] P. Riekert and T.-E. Schunck, “Zur Fahrmechanik des gummibereiften
Kraftfahrzeugs,” Ingenieur-Archiv, vol. 11, no. 3, pp. 210–224, 1940.
[6] M. Walter, N. Nitzsche, D. Odenthal, and S. Muller, “Lateral vehicle ¨
guidance control for autonomous and cooperative driving,” in Proc.
European Control Conference. European Control Conference, 2014,
pp. 2667–2672.
[7] B. A. Guvenc ¨ ¸, L. Guvenc ¨ ¸, and S. Karaman, “Robust MIMO disturbance
observer analysis and design with application to active car steering,”
International Journal of Robust and Nonlinear Control, vol. 20, no. 8,
pp. 873–891, 2010.
[8] T. Umeno and Y. Hori, “Robust speed control of DC servomotors
using modern two degrees-of-freedom controller design,” Industrial
Electronics, IEEE Transactions on, vol. 38, no. 5, pp. 363–368, 1991.
[9] S.-K. Park and S.-H. Lee, “Disturbance observer based robust control
for industrial robots with flexible joints,” in Control, Automation and
Systems, 2007. ICCAS’07. International Conference on. IEEE, 2007,
pp. 584–589.
[10] S. M. Shahruz, “Suppression of effects of nonlinearities by disturbance
observers,” in American Control Conference, 2004. Proceedings of the
2004, vol. 5. IEEE, 2004, pp. 4342–4347.
[11] H. Shim and N. H. Jo, “An almost necessary and sufficient condition
for robust stability of closed-loop systems with disturbance observer,”
Automatica, vol. 45, no. 1, pp. 296–299, 2009.
[12] B. A. Guvenc, T. Bunte, D. Odenthal, and L. Guvenc, “Robust two
degree-of-freedom vehicle steering controller design,” Control Systems
Technology, IEEE Transactions on, vol. 12, no. 4, pp. 627–636, 2004.
[13] C. Rathgeber, F. Winkler, D. Odenthal, and S. Muller, “Lateral trajectory ¨
tracking control for autonomous vehicles,” in Proc. European Control
Conference. European Control Conference, 2014, pp. 1024–1029.
[14] N. Hogan, “Impedance control: An approach to manipulation,” in
American Control Conference, 1984. IEEE, 1984, pp. 304–313.
[15] J. Ackermann and P. Blue, Robust control: the parameter space
approach. Springer, 2002.
[16] J. Ackermann, A. Bartlett, D. Kaesbauer, W. Sienel, and R. Steinhauser,
Robust control. Springer, 1993.
[17] W. Sienel, T. Bunte, and J. Ackermann, “Paradise-parametric robust
analysis and design interactive software environment: A matlab-based
robust control toolbox,” in Computer-Aided Control System Design,
1996., Proceedings of the 1996 IEEE International Symposium on.
IEEE, 1996, pp. 380–385.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:69823", author = "Christian Rathgeber and Franz Winkler and Dirk Odenthal and Steffen Muller", title = "Disturbance Observer for Lateral Trajectory Tracking Control for Autonomous and Cooperative Driving", abstract = "In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.
", keywords = "Disturbance observer, trajectory tracking, robust
control, autonomous driving, cooperative driving", volume = "9", number = "6", pages = "921-8", }
