This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and asymptotically steers the tracking error to zero. The brief also presents a closed-loop stability proof of the method, ensuring perfect asymptotic estimation and tracking by the controlled vehicle. The proposed solution advantageously needs no a-priori information about the total disturbance boundedness, additional variables to model uncertainty, or observer parameters to be tuned. Its effectiveness and superiority to existing methods are studied in theory and shown in simulations where a full racecar model, based on the vehicle dynamics blockset, is required to track aggressive maneuvers. Through a faster and more accurate disturbance estimation, the solution robustly ensures better dynamic responses even with measurement noise.

Pedone S., Fagiolini A. (2023). Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 31(3), 1418-1426 [10.1109/TCST.2022.3214054].

Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers

Pedone S.;Fagiolini A.
2023-05-01

Abstract

This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and asymptotically steers the tracking error to zero. The brief also presents a closed-loop stability proof of the method, ensuring perfect asymptotic estimation and tracking by the controlled vehicle. The proposed solution advantageously needs no a-priori information about the total disturbance boundedness, additional variables to model uncertainty, or observer parameters to be tuned. Its effectiveness and superiority to existing methods are studied in theory and shown in simulations where a full racecar model, based on the vehicle dynamics blockset, is required to track aggressive maneuvers. Through a faster and more accurate disturbance estimation, the solution robustly ensures better dynamic responses even with measurement noise.
mag-2023
Settore ING-INF/04 - Automatica
Pedone S., Fagiolini A. (2023). Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 31(3), 1418-1426 [10.1109/TCST.2022.3214054].
File in questo prodotto:
File Dimensione Formato  
Robust_Discrete-Time_Lateral_Control_of_Racecars_by_Unknown_Input_Observers.pdf

accesso aperto

Descrizione: ahead of print
Tipologia: Versione Editoriale
Dimensione 1.46 MB
Formato Adobe PDF
1.46 MB Adobe PDF Visualizza/Apri
Robust_Discrete-Time_Lateral_Control_of_Racecars_by_Unknown_Input_Observers.pdf

accesso aperto

Tipologia: Versione Editoriale
Dimensione 1.41 MB
Formato Adobe PDF
1.41 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10447/583251
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? 1
social impact