Trajectory tracking control method of driverless vehicle integrating backstepping method
YU Leiyan1, GUO Pan2, HOU Zeyu1
(1. School of Mechanical and Electrical Engineering, China University of Petroleum (East China), Qingdao， Shandong 266580, China; 2. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China）
Abstract：To improve the accuracy, stability and rapidity of trajectory tracking control for driverless vehicle, backstepping method was respectively integrated with sliding mode variable structure control and fuzzy adaptive control. The position and orientation error differential equation of vehicle with three degrees of freedom was established. The control laws of vehicle speed and yaw rate based on backstepping method were derived, and the stability of the system was verified by Lyapunov stability criterion. The sliding mode variable structure and fuzzy adaptive trajectory tracking control methods integrating backstepping method were established respectively. The steady-state error, overshoot and adjustment time of trajectory tracking were used to verify and compare the performance of accuracy, stability and rapidity. The results show that the stability of sliding mode variable structure trajectory tracking control integrating backstepping is the best, and the overshoot of trajectory tracking is reduced to zero compared with backstepping. The fuzzy adaptive trajectory tracking control integrating backstepping method has the best rapidity, and the adjustment time of trajectory tracking is reduced by 18.2% compared with backstepping.
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