Zhang, RuiMa, YulinLi, ZhixiongMalekian, RezaSotel2018-08-062018-08-062018-04Zhang, R., Ma, Y., Li, Z. et al. 2018, 'Energy dissipation based longitudinal and lateral coupling control for intelligent vehicles', IEEE Intelligent Transportation Systems Magazine, vol. 10, no. 2, pp. 121-133.1939-139010.1109/MITS.2018.2806623http://hdl.handle.net/2263/66111This paper proposes a combined longitudinal and lateral control approach for an intelligent vehicle system based on energy dissipation. The vehicle system dynamics resembles a series of mass/spring/damper systems that are dissipative, i.e., the energy of the system decays to zero eventually. Thus, the nonlinear-optimal longitudinal and lateral coupling control problem of the intelligent vehicle system is transformed into a dissipative control design based on an energy storage function. To satisfy the γ-performance, with respect to the quadratic supply rate, the storage function is developed by using a back-stepping based Lyapunov method and a step-by-step improvement of performance bounds. A dissipative feedback control law is formulated by successive approximation based on the step-by-step reduction of the value of γ. The results of the adaptive vehicle control simulations and test-bed experiments are provided and verified by the respective comparison of energy consumption on different values of γ and speed adaption under different road geometries.en© 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.Longitudinal controlVehicle system dynamicsSuccessive approximationsPerformance boundsNonlinear optimalLateral couplingIntelligent vehicle systemsDissipative feedbacksDissipative controlVehiclesLyapunov methodsIntelligent vehicle highway systemsEnergy utilizationEnergy dissipationControl system synthesisPostprint Article