Research on Path Planning and Tracking Control of Automatic Parking System

In this paper, we focus on the parking path planning and path tracking control under parallel parking conditions with automatic parking system as the research object. In order to solve the problem of discontinuity of curvature in the path planning of traditional arc-straight combined curve, a quintic polynomial is used to smooth the path. we design a path tracking controller based on the incremental model predictive control (MPC). The preview control based on pure tracking algorithm is used as the comparison algorithm for path tracking. The feasibility of the controller is verified by building a Simulink/CarSim co-simulation platform. In addition, the practicality of the parking controller is further verified by using the ROS intelligent car in the laboratory environment.

Robust sliding mode preview control for uncertain discrete-time systems with time-varying delay

This article focuses on the problem of robust sliding mode preview control for a class of non-linear delayed systems. It is assumed that the reference signal is previewed with a fixed length ahead and the norm of uncertainty is bounded. A model transformation is introduced to approximate the time-varying delay such that augmented error systems can be constructed. Conditions of asymptotic stability of sliding motion are established via the small gain theorem. The sliding mode preview controller is designed such that the controlled system state can be attracted to the switching surface and keep on it thereafter. A numerical example is presented to illustrate the effectiveness of the proposed control design.