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

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