Automatic Parking Control of Unmanned Vehicle Based on Switching Control Algorithm and Backstepping
Hongbo Gao, Juping Zhu, Xinde Li, Yu Kang, Jiehao Li, Hang Su
Abstract
This article presents a simple control method for the fully automatic parking of an unmanned vehicle. This method is based on the switching control algorithm and backstepping theory. The fully automatic parking is hard to accomplish since it cannot converge to a specified norm, guarantee the convergence rate, and large uncertainties. Global exponential convergence to any prescribed norm bound ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\epsilon$</tex-math></inline-formula> -convergence) is guaranteed, and the convergence rate is explicitly given. For the design of steering laws, a method based on backstepping is proposed and analyzed in detail. The backstepping-based design of a multichain system is obtained. Moreover, an exponentially <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\epsilon$</tex-math></inline-formula> -convergent control algorithm is adopted to guarantee both converge norm and convergence rate. Real road experiment results are presented and the results show the effectiveness of the control strategies.