Adaptive speed tracking control for autonomous land vehicles in all-terrain navigation: An experimental study
Article first published online: 23 OCT 2012
© 2012 Wiley Periodicals, Inc.
Journal of Field Robotics
Volume 30, Issue 1, pages 102–128, January / February 2013
How to Cite
Wang, J., Sun, Z., Xu, X., Liu, D., Song, J. and Fang, Y. (2013), Adaptive speed tracking control for autonomous land vehicles in all-terrain navigation: An experimental study. J. Field Robotics, 30: 102–128. doi: 10.1002/rob.21440
- Issue published online: 10 DEC 2012
- Article first published online: 23 OCT 2012
- Manuscript Accepted: 17 AUG 2012
- Manuscript Received: 8 JAN 2012
- National Natural Science Foundation of China. Grant Numbers: 90820302, 61075072
- New Century Excellent Talents in Universities. Grant Number: NCET-10-0901
This paper develops a nonparametric controller with an internal model control (IMC) structure for the longitudinal speed tracking control of autonomous land vehicles by designing a proportional and internal model control (IMC) cascade (P-IMC) controller. An IMC architecture is employed in the inner control loop by establishing a nonparametric longitudinal dynamical model, whereas a P controller is designed for the outer control loop. An approach for estimating the terrain effects and compensating for the model errors is also introduced. The differences from other nonparametric controllers are discussed, and the stability of the P-IMC controller is analyzed and validated experimentally. The P-IMC controller is compared with the SpAM+PI to illustrate its advantages. The experimental results of autonomous all-terrain driving show the effectiveness of the P-IMC controller.