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

Lghani Menhour; Brigitte d'Andréa-Novel; Michel Fliess; Hugues Mounier

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.

Document type :

Journal articles

Domain :

Computer Science [cs] / Automatic Control Engineering

Engineering Sciences [physics] / Automatic

Mathematics [math] / Optimization and Control [math.OC]

Environmental Sciences / Environmental Engineering

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