 |
École polytechnique Open archive |  |
 |
Conference papers
Multivariable decoupled longitudinal and lateral vehicle control: A model-free design
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.
Cited literature [25 references]
https://hal-polytechnique.archives-ouvertes.fr/hal-00859444
Contributor : Michel Fliess Connect in order to contact the contributor
Submitted on : Monday, September 9, 2013 - 11:50:13 AM
Last modification on : Wednesday, November 17, 2021 - 12:30:57 PM
Long-term archiving on: : Thursday, April 6, 2017 - 4:41:00 PM
Contributor : Michel Fliess Connect in order to contact the contributor
Submitted on : Monday, September 9, 2013 - 11:50:13 AM
Last modification on : Wednesday, November 17, 2021 - 12:30:57 PM
Long-term archiving on: : Thursday, April 6, 2017 - 4:41:00 PM
File
CDC13_MFC_vehicle.pdf
Files produced by the author(s)