Non-Linear Control Based on State Estimation for the Convoy of Autonomous Vehicles
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 well-known driving simulator Scanner-Studio. The results are
presented for different maneuvers of 5 vehicles.
[1] P. Avanzini, B. Thuilot, and P. Martinet, “Accurate platoon control
of urban vehicles, based solely on monocular vision,” in Intelligent
Robots and Systems (IROS), 2010 IEEE/RSJ International Conference
on. IEEE, 2010, pp. 6077–6082.
[2] A. Ali, G. Garcia, and P. Martinet, “Urban platooning using a flatbed
tow truck model,” in Intelligent Vehicles Symposium (IV), 2015 IEEE.
IEEE, 2015, pp. 374–379.
[3] D. Swaroop, “String stability of interconnected systems : An application
to platooning in ahs,” Ph.D. dissertation, University of California at
Berkeley, 1994.
[4] P. Avanzini, “Mod´elisation et commande d’un convoi de
v´ehicules urbains par vision,” Ph.D. dissertation, Universit´e Blaise
Pascal-Clermont-Ferrand II, 2010.
[5] A. Ali, “Mod´elisation et commande d’un convoi de v´ehicules urbains,”
Ph.D. dissertation, Universit Nantes Angers Le Mans, 2015.
[6] P. Daviet and M. Parent, “Longitudinal and lateral servoing of vehicles
in a platoon,” in Intelligent Vehicles Symposium, 1996., Proceedings of
the 1996 IEEE. IEEE, 1996, pp. 41–46.
[7] J. Xiang and T. Br¨aunl, “String formations of multiple vehicles via
pursuit strategy,” IET control theory & applications, vol. 4, no. 6, pp.
1027–1038, 2010. [8] R. DeSantis, “Path-tracking for car-like robots with single and double
steering,” IEEE Transactions on vehicular technology, vol. 44, no. 2,
pp. 366–377, 1995.
[9] J. M. Mu,azu, S. Sudin, Z. Mohamed, A. Yusuf, A. D. Usman, and
A. U. Hassan, “An improved topology model for two-vehicle look-ahead
and rear-vehicle convoy control,” IEEE 3rd International Conference
on Electro-Technology for National Development (NIGERCON), vol. 6,
p. 0, 2017.
[10] L. Nouveliere, J. S. Marie, and S. M. an N K M’Sirdi, “Controle
longitudinal de vehicules par commande sous optimale,” in CIFA 2002.
Nantes Juillet, 2002, pp. 906–911.
[11] R. E. Caicedo, J. Valasek, and J. L. Junkins, “Preliminary results of
one-dimensional vehicle formation control using a structural analogy,”
in American Control Conference, 2003. Proceedings of the 2003, vol. 6.
IEEE, 2003, pp. 4687–4692.
[12] J. Yazbeck, A. Scheuer, and F. Charpillet, “Decentralized near-to-near
approach for vehicle platooning based on memorization and heuristic
search,” in 2014 IEEE International Conference on Robotics and
Automation (ICRA). IEEE, 2014, pp. 631–638.
[13] M. E. Khatir and E. J. Davison, “Decentralized control of a large
platoon of vehicles using non-identical controllers,” in American Control
Conference, 2004. Proceedings of the 2004, vol. 3. IEEE, 2004, pp.
2769–2776.
[14] X. Qian, F. A. A. de La Fortelle, and F. Moutarde, “A distributed model
predictive control framework for road-following formation control of
car-like vehicles,” in arXiv:1605.00026v1 [cs.RO] 29 Apr 2016, 2016.
[15] A. Rabhi, N. M’Sirdi, A. Naamane, and B. Jaballah, “Estimation
of contact forces and road profile using high-order sliding modes,”
International Journal of Vehicle Autonomous Systems, vol. 8, no. 1, pp.
23–38, 2010.
[16] B. Jaballah, N. K. M’sirdi, A. Naamane, and H. Messaoud, “Estimation
of vehicle longitudinal tire force with fosmo & sosmo,” International
Journal on Sciences and Techniques of Automatic control and computer
engineering, IJSTA, page `a paraitre, 2011.
[17] “SCANeR studio,” https://www.avsimulation.fr/solutions/studio, 2019.
[18] B. Jaballah, “Observateurs robustes pour le diagnostic et la
dynamique des v´ehicules,” Ph.D. dissertation, Universit´e Paul
C´ezanne-Aix-Marseille III, 2011.
[19] A. Chebly, “Trajectory planning and tracking for autonomous
vehicles navigation,” Ph.D. dissertation, Universit´e de Technologie de
Compi`egne, 2017.
[20] M. MohamedAhmed, A. Naamane, and N. K. MSirdi, “Path tracking
for the convoy of autonomous vehicles based on a non-linear predictive
control,” in The 12th International Conference on Integrated Modeling
and Analysis in Applied Control and Automation, IMAACA 2019. 18-20
September, Lisbon Portugal, 2019, pp. 1–7.
[1] P. Avanzini, B. Thuilot, and P. Martinet, “Accurate platoon control
of urban vehicles, based solely on monocular vision,” in Intelligent
Robots and Systems (IROS), 2010 IEEE/RSJ International Conference
on. IEEE, 2010, pp. 6077–6082.
[2] A. Ali, G. Garcia, and P. Martinet, “Urban platooning using a flatbed
tow truck model,” in Intelligent Vehicles Symposium (IV), 2015 IEEE.
IEEE, 2015, pp. 374–379.
[3] D. Swaroop, “String stability of interconnected systems : An application
to platooning in ahs,” Ph.D. dissertation, University of California at
Berkeley, 1994.
[4] P. Avanzini, “Mod´elisation et commande d’un convoi de
v´ehicules urbains par vision,” Ph.D. dissertation, Universit´e Blaise
Pascal-Clermont-Ferrand II, 2010.
[5] A. Ali, “Mod´elisation et commande d’un convoi de v´ehicules urbains,”
Ph.D. dissertation, Universit Nantes Angers Le Mans, 2015.
[6] P. Daviet and M. Parent, “Longitudinal and lateral servoing of vehicles
in a platoon,” in Intelligent Vehicles Symposium, 1996., Proceedings of
the 1996 IEEE. IEEE, 1996, pp. 41–46.
[7] J. Xiang and T. Br¨aunl, “String formations of multiple vehicles via
pursuit strategy,” IET control theory & applications, vol. 4, no. 6, pp.
1027–1038, 2010. [8] R. DeSantis, “Path-tracking for car-like robots with single and double
steering,” IEEE Transactions on vehicular technology, vol. 44, no. 2,
pp. 366–377, 1995.
[9] J. M. Mu,azu, S. Sudin, Z. Mohamed, A. Yusuf, A. D. Usman, and
A. U. Hassan, “An improved topology model for two-vehicle look-ahead
and rear-vehicle convoy control,” IEEE 3rd International Conference
on Electro-Technology for National Development (NIGERCON), vol. 6,
p. 0, 2017.
[10] L. Nouveliere, J. S. Marie, and S. M. an N K M’Sirdi, “Controle
longitudinal de vehicules par commande sous optimale,” in CIFA 2002.
Nantes Juillet, 2002, pp. 906–911.
[11] R. E. Caicedo, J. Valasek, and J. L. Junkins, “Preliminary results of
one-dimensional vehicle formation control using a structural analogy,”
in American Control Conference, 2003. Proceedings of the 2003, vol. 6.
IEEE, 2003, pp. 4687–4692.
[12] J. Yazbeck, A. Scheuer, and F. Charpillet, “Decentralized near-to-near
approach for vehicle platooning based on memorization and heuristic
search,” in 2014 IEEE International Conference on Robotics and
Automation (ICRA). IEEE, 2014, pp. 631–638.
[13] M. E. Khatir and E. J. Davison, “Decentralized control of a large
platoon of vehicles using non-identical controllers,” in American Control
Conference, 2004. Proceedings of the 2004, vol. 3. IEEE, 2004, pp.
2769–2776.
[14] X. Qian, F. A. A. de La Fortelle, and F. Moutarde, “A distributed model
predictive control framework for road-following formation control of
car-like vehicles,” in arXiv:1605.00026v1 [cs.RO] 29 Apr 2016, 2016.
[15] A. Rabhi, N. M’Sirdi, A. Naamane, and B. Jaballah, “Estimation
of contact forces and road profile using high-order sliding modes,”
International Journal of Vehicle Autonomous Systems, vol. 8, no. 1, pp.
23–38, 2010.
[16] B. Jaballah, N. K. M’sirdi, A. Naamane, and H. Messaoud, “Estimation
of vehicle longitudinal tire force with fosmo & sosmo,” International
Journal on Sciences and Techniques of Automatic control and computer
engineering, IJSTA, page `a paraitre, 2011.
[17] “SCANeR studio,” https://www.avsimulation.fr/solutions/studio, 2019.
[18] B. Jaballah, “Observateurs robustes pour le diagnostic et la
dynamique des v´ehicules,” Ph.D. dissertation, Universit´e Paul
C´ezanne-Aix-Marseille III, 2011.
[19] A. Chebly, “Trajectory planning and tracking for autonomous
vehicles navigation,” Ph.D. dissertation, Universit´e de Technologie de
Compi`egne, 2017.
[20] M. MohamedAhmed, A. Naamane, and N. K. MSirdi, “Path tracking
for the convoy of autonomous vehicles based on a non-linear predictive
control,” in The 12th International Conference on Integrated Modeling
and Analysis in Applied Control and Automation, IMAACA 2019. 18-20
September, Lisbon Portugal, 2019, pp. 1–7.
@article{"International Journal of Electrical, Electronic and Communication Sciences:79628", author = "M-M. Mohamed Ahmed and Nacer K. M’Sirdi and Aziz Naamane", title = "Non-Linear Control Based on State Estimation for the Convoy of Autonomous Vehicles", abstract = "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 well-known driving simulator Scanner-Studio. The results are
presented for different maneuvers of 5 vehicles.", keywords = "Autonomous vehicles, convoy, nonlinear control,
nonlinear observer, sliding mode.", volume = "14", number = "5", pages = "129-9", }
