RISE-based integrated motion control of autonomous ground vehicles with asymptotic prescribed performance

Chuan Hu, Hongbo Gao, Jinghua Guo, Hamid Taghavifar, Yechen Qin, Jing Na, Chongfeng Wei

    Research output: Contribution to journalArticlepeer-review

    20 Citations (Scopus)


    This article investigates the integrated lane-keeping and roll control for autonomous ground vehicles (AGVs) considering the transient performance and system disturbances. The robust integral of the sign of error (RISE) control strategy is proposed to achieve the lane-keeping control purpose with rollover prevention, by guaranteeing the asymptotic stability of the closed-loop system, attenuating systematic disturbances, and maintaining the controlled states within the prescribed performance boundaries. Three contributions have been made in this article: 1) a new prescribed performance function (PPF) that does not require accurate initial errors is proposed to guarantee the tracking errors restricted within the predefined asymptotic boundaries; 2) a modified neural network (NN) estimator which requires fewer adaptively updated parameters is proposed to approximate the unknown vertical dynamics; and 3) the improved RISE control based on PPF is proposed to achieve the integrated control objective, which analytically guarantees both the controller continuity and closed-loop system asymptotic stability by integrating the signum error function. The overall system stability is proved with the Lyapunov function. The controller effectiveness and robustness are finally verified by comparative simulations using two representative driving maneuvers, based on the high-fidelity CarSim-Simulink simulation.
    Original languageEnglish
    Article number8897128
    Pages (from-to)5336 - 5348
    Number of pages13
    JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
    Issue number9
    Early online date12 Nov 2019
    Publication statusPublished - Sep 2021


    • Autonomous ground vehicles (AGVs)
    • lane keeping
    • neural network (NN)
    • prescribed performance control (PPC)
    • robust integral of the sign of the error (RISE)
    • roll control

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Human-Computer Interaction
    • Computer Science Applications
    • Electrical and Electronic Engineering


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