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.
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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⟩

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