Li, Bin (Guangdong Airport Authority), Han, Zengwen (Guangdong Airport Authority), Chen, Jinjian (Guangdong Airport Authority), Wang, Hongbo (HIT Robot Group (Zhongshan) Unmanned Equipment and Artificial In), Wang, Xiaowei (Northeastern Unversity)

Type 2 Fuzzy Cooperative Steering Control for Path Tracking of Autonomous Vehicle Considering Communication Delay

Scheduled for presentation during the Regular session "Vehcile Control II" (ThB3), Thursday, October 31, 2024, 13:30−13:50, Room T3

7th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Oct 30 - Nov 1, 2024, Dalian, China

This information is tentative and subject to change. Compiled on May 16, 2025

Abstract

This paper proposes a cooperative steering control method considering communication delay, aimed at significantly enhancing the performance of vehicle path tracking systems. To effectively capture the uncertainties of vehicle system parameters, a type 2 fuzzy strategy is employed to establish an optimized model of the driver-vehicle system. To clarify the control authority between the driver and the automated steering system, a method based on fuzzy rule design for authority allocation is introduced. Additionally, to mitigate the impact of neural network delays on control system performance, a delay-dependent state feedback controller is designed based on matrix inequalities related to delays. By analyzing using Lyapunov functional theory, sufficient conditions for computing the desired cooperative steering controller are provided. Finally, simulation studies validate that the proposed controller significantly improves the vehicle path tracking performance.