Coupled nonlinear vehicle control: Flatness-based setting with algebraic estimation techniques

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 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : A combined nonlinear longitudinal and lateral vehicle control is investigated. Flatness-based nonlinear control and new algebraic estimation techniques for noise removal and numerical differentiation are the main theoretical tools. An accurate automatic path-tracking via vehicle steering angle and driving/braking wheel torque is thus ensured. It combines the control of the lateral and longitudinal motions in order to track straight or curved trajectories and to perform a combined lane-keeping and steering control during critical driving situations such as obstacle avoidance, stop-and-go control, lane-change maneuvers or any other maneuvers. Promising results have been obtained with noisy experimental data, which were acquired by a laboratory vehicle with high dynamic loads and high lateral accelerations.
Keywords : numerical differentiation noise removal estimation flatness-based control algebraic techniques Intelligent transportation systems coupled longitudinal/lateral vehicle control algebraic techniques.
Type de document :
Article dans une revue
Control Engineering Practice, Elsevier, 2014, 22, pp.135-146. 〈10.1016/j.conengprac.2013.09.013 〉
Liste complète des métadonnées

Littérature citée [32 références]  Voir  Masquer  Télécharger
https://hal-polytechnique.archives-ouvertes.fr/hal-00869053
Contributeur : Michel Fliess <>
Soumis le : mercredi 2 octobre 2013 - 14:20:13
Dernière modification le : jeudi 7 février 2019 - 17:16:53
Document(s) archivé(s) le : vendredi 7 avril 2017 - 05:20:43

Fichier

CEP_13.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

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

Citation

Lghani Menhour, Brigitte D'Andréa-Novel, Michel Fliess, Hugues Mounier. Coupled nonlinear vehicle control: Flatness-based setting with algebraic estimation techniques. Control Engineering Practice, Elsevier, 2014, 22, pp.135-146. 〈10.1016/j.conengprac.2013.09.013 〉. 〈hal-00869053〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

1853

Téléchargements de fichiers

1171

Contact

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