Kumar, Yogesh (IIIT Delhi), Roy, Sayan Basu (IIIT Delhi), P B, Sujit (IISER Bhopal)

Barrier Lyapunov Function Based Trajectory Tracking Controller for Autonomous Vehicles with Guaranteed Safety Bounds

Scheduled for presentation during the Regular Session "UAS Applications I" (ThA3), Thursday, September 3, 2020, 11:20−11:40, Edessa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on September 25, 2020

Abstract

Accurate trajectory tracking is essential in many applications involving autonomous vehicles. However, due to the coupled nonlinear dynamics of the vehicle and external disturbances, this may not be the case. This paper presents a Barrier Lyapunov Function (BLF) based trajectory tracking controller design technique for autonomous vehicles with task-specific constrained state requirements. A BLF candidate is introduced based on the constraints and using the Lyapunov direct method a controller is designed which guarantees that the tracking errors remain within the defined bounds. The proposed technique is demonstrated on two applications. In the first scenario, we consider a trajectory tracking problem with a safety bound (circle) around the desired trajectory and in the second we consider a moving target tracking problem using an unmanned aerial vehicle (UAV) with guaranteed visibility. The simulation results along with the software-in-the-loop (SITL) results show the adaptability of the proposed method to various applications.