Vörös, Illés and Takács, Dénes and Orosz, Gábor (2022) Safe Lane-Keeping with Feedback Delay: Bifurcation Analysis and Experiments. IEEE CONTROL SYSTEMS LETTERS, 7. pp. 1147-1152. ISSN 2475-1456
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Abstract
A lane-keeping controller for automobiles is analyzed in this letter, with the consideration of time delay in the feedback loop. Unstable periodic orbits are identified inside the linearly stable domain of control gains. Based on the amplitude of these unstable solutions, safe parameter zones are identified, where the closed loop system is robust against perturbations, i.e., where the basin of attraction of the stable equilibrium is sufficiently large. Sensitivity to perturbations in different regions of linearly stable control gains is demonstrated by a series of real-vehicle experiments. Finally, modifications of the control law are proposed that lead to significant improvements in terms of the robustness against perturbation for the controlled vehicle, achieving global stability in the practical sense.
| Item Type: | Article |
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| Additional Information: | Funding Agency and Grant Number: Janos Bolyai Research Scholarship of the HungarianAcademy of Sciences; National Research, Developmentand Innovation Office of Hungary [NKFI-128422, 2020-1.2.4-TET-IPARI-2021-00012]; Mcity at University of Michigan Funding text: This work was supportedin part by the Janos Bolyai Research Scholarship of the HungarianAcademy of Sciences; in part by the National Research, Developmentand Innovation Office of Hungary under Grant NKFI-128422 and Grant 2020-1.2.4-TET-IPARI-2021-00012; and in part by Mcity at University of Michigan. Recommended by Senior Editor L. Zhang |
| Uncontrolled Keywords: | STABILITY; bifurcations; Limit cycles; vehicle; automated vehicles; path-following con-trol; |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok T Technology / alkalmazott, műszaki tudományok > TL Motor vehicles. Aeronautics. Astronautics / járműtechnika, repülés, űrhajózás |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 22 Sep 2023 10:12 |
| Last Modified: | 22 Sep 2023 10:12 |
| URI: | http://real.mtak.hu/id/eprint/174419 |
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