Abstract The motion control of autonomous vehicles with a modular, service-oriented system architecture poses new challenges, as trajectory-planning and -execution are independent software functions. In this paper, requirements for an encapsulated trajectory tracking derived it’s shown that key differences to conventional integrated exist, requiring additional attention during controller design...

The field of autonomous driving vehicles is growing and expanding rapidly. However, the control systems for still pose challenges, since vehicle speed steering angle are always subject to strict constraints in dynamics. optimal action angular velocity can be obtained from online objective function, dynamic vehicle’s physical limitations, environmental conditions, surrounding obstacles. This pap...

An analysis of on-line autonomous robust tracking controller based on variable structure control is presented for an aerospace launch vehicle. Decentralized sliding-mode controller is designed to achieve the decoupled asymptotic tracking of guidance commands upon plant uncertainties and external disturbances. Development and application of the controller for an aerospace launch vehicle during a...