Mendeley
TY  _  JOUR
ID  -  13981207225646
TI  -  Robust Optimal Control of Lateral Vehicle’s Dynamics with Adaptive Dynamic Programming Approach
JO  -  Nashriyyah -i Muhandisi -i Barq va Muhandisi -i Kampyutar -i Iran
JA  -  ES
LA  -  fa
SN  -  16823745
AU  -  Satouri Mohammad Reza
AU  -  Razminia Abolhassan
AU  -  Marashian Arash
AD  -  دانشگاه تهران
AD  -  دانشگاه خلیج فارس
AD  -  دانشگاه خلیج فارس  بوشهر
Y1  -  2020
PY  -  2020
VL  -  4
IS  -  
SP  -  296
EP  -  301
KW  -  Zero-sum gameadaptive dynamic programmingoptimal controlbackstepping controllateral vehicle control
DO  -  
N2  -  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.
UR  - rimag.ir/en/Article/28817
L1  - rimag.ir/en/Article/Download/28817
ER  -  
