A Spatial Learning-based Fault Tolerant Lateral Tracking Control for Autonomous Driving

In this paper, a spatial learning-based fault-tolerant control strategy is proposed for precise lateral tracking of autonomous vehicles subject to dynamical uncertainties, external disturbances as well as actuator failures. In order to facilitate the controller design, the uncertain vehicle dynamics...

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Bibliographic Details
Published in:	IEEE transactions on vehicular technology Vol. 72; no. 10; pp. 1 - 13
Main Authors:	Li, Xuefang, Li, Hongbo, Meng, Deyuan
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.10.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuator failure Actuators Adaptation models Adaptive control Algorithms Autonomous vehicles Control algorithms Control systems design Control theory Controllers Convergence Fault tolerance fault tolerant Feasibility studies lateral tracking Space vehicles Spatial adaptive iterative learning control Tracking control Uncertainty Vehicle dynamics
ISSN:	0018-9545, 1939-9359
Online Access:	Get full text
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