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

Complete list of metadatas

Cited literature [32 references] Display Hide Download

https://hal-polytechnique.archives-ouvertes.fr/hal-00869053
Contributor : Michel Fliess <>
Submitted on : Wednesday, October 2, 2013 - 2:20:13 PM
Last modification on : Wednesday, March 27, 2019 - 4:41:27 PM
Long-term archiving on : Friday, April 7, 2017 - 5:20:43 AM

CEP_13.pdf

Files produced by the author(s)

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

File

Identifiers

Collections

Citation

Export

Metrics

2129

1462

Contact

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

File

Identifiers

Collections

Citation

Export

Share

Metrics

2129

1462

Contact