Multivariable decoupled longitudinal and lateral vehicle control: A model-free design

Lghani Menhour 1 Brigitte D'Andréa-Novel 2 Michel Fliess 3, 4 Hugues Mounier 5
1 CRESTIC - Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804
2 CAOR - Centre de Robotique
3 LIX - Laboratoire d'informatique de l'École polytechnique [Palaiseau]
4 AL.I.E.N. - ALgèbre pour Identification & Estimation Numériques
5 L2S - Laboratoire des signaux et systèmes
Abstract : The newly introduced model-free control is applied to a multivariable decoupled longitudinal and lateral vehicle control. It combines two outputs (lateral and longitudinal motions) via two inputs (braking/traction wheel torques and steering angle). It yields driving maneuvers requiring a control coordination of steering angle, braking and traction torques, in order to ensure an accurate tracking in straight or curved trajectories. It is also robust with respect to modeling errors and parametric uncertainties, even during critical driving situations, where such a control is required. Convincing computer simulations are displayed with noisy real data from a laboratory vehicle, which were used as reference trajectories and acquired under high lateral accelerations.
Keywords : flatness-based control. flatness-based control Intelligent transportation systems decoupled longitudinal/lateral vehicle control model-free control intelligent proportional-integral controllers
Type de document :
Communication dans un congrès
IEEE. 52nd IEEE Conference on Decision and Control CDC 2013, Dec 2013, Florence, Italy. pp.CD-ROM, 2013, 〈10.1109/cdc.2013.6760313 〉
Liste complète des métadonnées

Littérature citée [25 références]  Voir  Masquer  Télécharger
https://hal-polytechnique.archives-ouvertes.fr/hal-00859444
Contributeur : Michel Fliess <>
Soumis le : lundi 9 septembre 2013 - 11:50:13
Dernière modification le : lundi 12 novembre 2018 - 11:00:26
Document(s) archivé(s) le : jeudi 6 avril 2017 - 16:41:00

Fichier

CDC13_MFC_vehicle.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

LIX | INSMI | X | X-LIX | PARISTECH | ENSMP_CAOR | ENSMP | L2S | SUP_SYSTEMES | SUPELEC | SUP_LSS | TDS-MACS | PSL | URCA | CRESTIC | X-DEP-INFO

Citation

Lghani Menhour, Brigitte D'Andréa-Novel, Michel Fliess, Hugues Mounier. Multivariable decoupled longitudinal and lateral vehicle control: A model-free design. IEEE. 52nd IEEE Conference on Decision and Control CDC 2013, Dec 2013, Florence, Italy. pp.CD-ROM, 2013, 〈10.1109/cdc.2013.6760313 〉. 〈hal-00859444〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

1568

Téléchargements de fichiers

1228

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD