Academic Journal
Lateral Wind Estimation and Backstepping Compensation for Safer Self-Driving Racecars
| العنوان: | Lateral Wind Estimation and Backstepping Compensation for Safer Self-Driving Racecars |
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| المؤلفون: | Pedone S., Trumic M., Fagiolini A. |
| المساهمون: | Pedone S., Trumic M., Fagiolini A. |
| بيانات النشر: | Institute of Electrical and Electronics Engineers Inc. |
| سنة النشر: | 2024 |
| المجموعة: | IRIS Università degli Studi di Palermo |
| مصطلحات موضوعية: | Autonomous vehicles, Backstepping, Convergence, estimation, Force, Observers, racecars, Sensors, Vehicle dynamics, Wind, wind compensation, Settore ING-INF/04 - Automatica |
| الوصف: | This paper addresses the lateral wind gust estimation and compensation problem for racecar models. A wind-sensorless solution, i.e. a solution not using direct wind measures, is proposed. More precisely, by modeling the wind disturbance as a fully unknown input signal, an input-state observer is derived using only information about the vehicle’s longitudinal speed and lateral pose relative to the road. The observer is characterized by a simple structure, explicit closed-form, direct implementability on a micro-controller, and dead-beat property, i.e. it ensures the convergence of the estimation error in a finite time. Moreover, leveraging on the reconstructed wind data, a backstepping wind-compensation controller is also proposed, allowing asymptotic tracking of a path with desired curvature and providing the end-user with a free control parameter specifying the desired tracking speed. Formal proofs of the estimation error and tracking error convergence are given. Performance evaluation of the proposed solution is obtained in simulation by closing in the loop the full nonlinear model of a real racecar, the Robocar system, with the proposed estimation and control method. Both the estimator and the controller are shown to outperform existing solutions, even in the presence of noisy measurements. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| Relation: | info:eu-repo/semantics/altIdentifier/wos/WOS:001129722600001; volume:25; issue:6; firstpage:4785; lastpage:4794; numberofpages:10; journal:IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS; https://hdl.handle.net/10447/622559 |
| DOI: | 10.1109/TITS.2023.3340058 |
| الاتاحة: | https://hdl.handle.net/10447/622559 https://doi.org/10.1109/TITS.2023.3340058 |
| Rights: | info:eu-repo/semantics/openAccess |
| رقم الانضمام: | edsbas.D8A83C36 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1109/TITS.2023.3340058 |
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