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ACP-Incorporated Perturbation-Resistant Neural Dynamics Controller for Autonomous Vehicles

文献类型：期刊论文

作者Liufu, Ying1; Jin, Long1; Shang, Mingsheng2; Wang, Xingxia3,4; Wang, Fei-Yue3,5
刊名IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
出版日期2024-04-01
卷号9期号:4页码:4675-4686
关键词Autonomous vehicles Vehicle dynamics Kinematics Task analysis Control systems Robustness Predictive control Model predictive control (MPC) neural dynamics autonomous vehicles artificial systems computational experiments and parallel execution (ACP)
ISSN号2379-8858
DOI10.1109/TIV.2023.3348632
通讯作者Jin, Long(jinlong@lzu.edu.cn) ; Wang, Fei-Yue(feiyue.wang@ia.ac.cn)
英文摘要Autonomous vehicle control systems are unavoidably influenced by diverse noise perturbations from the unpredictable external environment and internal system. In this consideration, based on the model predictive control (MPC) strategy, a perturbation-resistant neural dynamics (PRND) controller equipped with the noise-suppression ability for the path-tracking control of autonomous vehicles is newly designed in this paper, under the framework of artificial systems, computational experiments, and parallel execution (ACP). In addition, theoretical analyses show that the proposed ACP-incorporated PRND controller can behave with exponential convergence and strong robustness under different noise scenarios. Lastly, computational experiments are conducted and parallelly executed on the CarSim-Simulink platform and E-Car physical platform to demonstrate the effectiveness and superiority of the proposed controller. Overall, this paper provides a new perspective for designing neural-dynamics-based controllers for autonomous vehicles, thereby guaranteeing reliable control performance and effectively resisting noise perturbations.
WOS关键词DESIGN ; SYSTEM
资助项目National Natural Science Foundation of China
WOS研究方向Computer Science ; Engineering ; Transportation
语种英语
WOS记录号WOS:001250038700015
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/59142]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队
通讯作者Jin, Long; Wang, Fei-Yue
作者单位1.Lanzhou Univ, Sch Informat Sci & Engn, Lanzhou 730000, Peoples R China
2.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing Key Lab Big Data & Intelligent Comp, Chongqing 400714, Peoples R China
3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
4.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100098, Peoples R China
推荐引用方式
GB/T 7714		 Liufu, Ying,Jin, Long,Shang, Mingsheng,et al. ACP-Incorporated Perturbation-Resistant Neural Dynamics Controller for Autonomous Vehicles[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2024,9(4):4675-4686.
APA Liufu, Ying,Jin, Long,Shang, Mingsheng,Wang, Xingxia,&Wang, Fei-Yue.(2024).ACP-Incorporated Perturbation-Resistant Neural Dynamics Controller for Autonomous Vehicles.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,9(4),4675-4686.
MLA Liufu, Ying,et al."ACP-Incorporated Perturbation-Resistant Neural Dynamics Controller for Autonomous Vehicles".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 9.4(2024):4675-4686.

入库方式： OAI收割

来源：自动化研究所

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