ISSN 1817-2172, рег. Эл. № ФС77-39410, ВАК

Differential Equations and Control Processes
(Differencialnie Uravnenia i Protsesy Upravlenia)

Terminal Control for the Autonomous Vehicle


X. Y. Petrova

Russia, 190000, St.-Petersburg, B. Morskaya St., 67
St.-Petersburg State University
of Aero-Space Instrumentation,
Computer science dept.

I. E. Zuber

St.-Petersburg State University,


The linearized time-invariant model of an autonomous vehicle (AV) with parametric uncertainity was condsidered. The problem of setting AV on the desired trajectory (guideline) and stabilizing it's motion along it is solved. This goal is achieved by means of combined control law -- programmatical terminal control with minimal energy for major initial deviations from the guideline and the modified PID-control for stabilizing the motion with minor initial deviations. To merge these two control law finite state automata was used. Numerical simulation was carried out using Simulink/Stateflow.

This work had been carried out with financial support of RFFR, projects 02-01-00544, 04-01-00464-а.

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