dc.contributor.author | Hajjami, Lhoussain El | |
dc.contributor.author | Mellouli, El Mehdi | |
dc.contributor.author | Žuraulis, Vidas | |
dc.contributor.author | Berrada, Mohammed | |
dc.contributor.author | Boumhidi, Ismail | |
dc.date.accessioned | 2023-09-18T20:46:57Z | |
dc.date.available | 2023-09-18T20:46:57Z | |
dc.date.issued | 2023 | |
dc.identifier.issn | 0954-4070 | |
dc.identifier.other | (crossref_id)146933693 | |
dc.identifier.other | 146933693 | |
dc.identifier.uri | https://etalpykla.vilniustech.lt/handle/123456789/152564 | |
dc.description.abstract | As computer computing capabilities increase, optimization algorithms are becoming more useful for solving engineering problems. Up to now, several metaheuristic algorithms have been exploited in control engineering. However, this effort remains weak in addressing the autonomous ground vehicles (AGVs) trajectory tracking problem. This research presents a novel optimal approach merging the robust non-singular fast terminal sliding-mode control method (NFTSMC) and the neural network optimization algorithm (NNA) for automatic lane changing. First, a reference double lane-change path (DLC) is designed, and the robust non-singular fast terminal sliding-mode steering controller is developed, according to Lyapunov stability theory, to suppress the lateral deviation and ensure the yaw stability. Then, the control strategy is optimized by the NNA algorithm to adjust the steering controller optimally while avoiding local optimums. A comparison, under the same conditions, with the particle swarm optimization algorithm (PSO) revealed the superiority of the control law resulting from the NNA-based optimization. Furthermore, the proposed approach shows its excellent tracking performance versus the integrated backstepping sliding-mode controller (IBSMC) and the adaptive sliding-mode control (ASMC) under severe conditions typical of real-world lane changes. | eng |
dc.format | PDF | |
dc.format.extent | p. 1-11 | |
dc.format.medium | tekstas / txt | |
dc.language.iso | eng | |
dc.relation.isreferencedby | Scopus | |
dc.relation.isreferencedby | Science Citation Index Expanded (Web of Science) | |
dc.rights | Neprieinamas | |
dc.source.uri | https://talpykla.elaba.lt/elaba-fedora/objects/elaba:162170395/datastreams/MAIN/content | |
dc.title | Neural network optimization algorithm based non-singular fast terminal sliding-mode control for an uncertain autonomous ground vehicle subjected to disturbances | |
dc.type | Straipsnis Web of Science DB / Article in Web of Science DB | |
dcterms.references | 32 | |
dc.type.pubtype | S1 - Straipsnis Web of Science DB / Web of Science DB article | |
dc.contributor.institution | Sidi Mohamed Ben Abdellah University | |
dc.contributor.institution | Vilniaus Gedimino technikos universitetas | |
dc.contributor.faculty | Transporto inžinerijos fakultetas / Faculty of Transport Engineering | |
dc.subject.researchfield | T 003 - Transporto inžinerija / Transport engineering | |
dc.subject.studydirection | E12 - Transporto inžinerija / Transport engineering | |
dc.subject.vgtuprioritizedfields | TD0101 - Autonominis sausumos ir oro transportas / Autonomous land and air transport | |
dc.subject.ltspecializations | L106 - Transportas, logistika ir informacinės ir ryšių technologijos (IRT) / Transport, logistic and information and communication technologies | |
dc.subject.en | vehicle lateral control | |
dc.subject.en | autonomous vehicle | |
dc.subject.en | neural network optimization algorithm | |
dc.subject.en | robust control | |
dcterms.sourcetitle | Proceedings of the institution of mechanical engineers, Part D: Journal of automobile engineering | |
dc.description.issue | iss. 00 | |
dc.description.volume | vol. 00 | |
dc.publisher.name | SAGE Publications | |
dc.publisher.city | London | |
dc.identifier.doi | 10.1177/09544070231169117 | |
dc.identifier.elaba | 162170395 | |
dc.identifier.wos | 000969141800001 | |