Adaptive Path-Following Control of Autonomous Vehicle With Path-Dependent Constraints and Input Saturation

This paper studies the path-following control problem of an autonomous vehicle with uncertain two-degree of free-dom (2-DOF) dynamic model. A path-dependent prescribed performance control design technique is presented to solve the constrained path-following problem. To satisfy the path-following constraints and input saturation requirements, adaptive control method is incorporated with universal barrier Lyapunov functions such that all the path-following errors including x-axis errors and y-axis errors can converge to small neighborhoods of zero. Under the proposed control protocol, the autonomous vehicle can track the desired time-varying velocity while following desired path. The co-simulation results of Simulink and Carsim show the effectiveness of the proposed path-following control protocol.