Robust Optimal Control of Lateral Vehicle’ s Dynamics with Adaptive Dynamic Programming Approach

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Satouri Mohammad Reza; Razminia Abolhassan; Marashian Arash

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Paper Information

Journal: NASHRIYYAH -I MUHANDISI -I BARQ VA MUHANDISI -I KAMPYUTAR -I IRAN, A- MUHANDISI -I BARQ Year:2020 | Volume:17 | Issue:4 Page(s): 296-301

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Information Journal Paper

Title

Robust Optimal Control of Lateral Vehicle’ s Dynamics with Adaptive Dynamic Programming Approach

Author(s)

Satouri Mohammad Reza | Razminia Abolhassan | Marashian Arash | Issue Writer Certificate

Keywords

Zero-sum gameQ1

adaptive dynamic programmingQ1

optimal controlQ2

backstepping controlQ1

lateral vehicleQ1

Abstract

lateral vehicle’ s control with constant longitudinal velocity using adaptive dynamic programming, backstepping and Zero-sum games theory is investigated in this paper. The nonlinear dynamics is considered and the steering torque is chosen to be the control input instead of the steering angle. At first, a subsystem is created by augmenting the lateral vehicle’ s dynamics with lane keeping ones considering the steering angle as the control input and the road curvature as a disturbance. Utilizing adaptive dynamic programming, neural networks and Zero-sum games theory, the optimal control law is obtained and then, the results exerted on the second subsystem which is the dynamics of the steering angle and a control law is captured for which using the backstepping control method. Finally, performance of the proposed algorithm is demonstrated by applying it on a typical vehicle model.

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