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 L2S - Laboratoire des signaux et systèmes

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: algebraic techniques.; numerical differentiation; noise removal; estimation; flatness-based control; coupled longitudinal/lateral vehicle control; Intelligent transportation systems; algebraic techniques

Domains: Computer Science [cs]; Automatic Control Engineering; Engineering Sciences [physics]; Automatic; Mathematics [math]; Optimization and Control [math.OC]; Environmental Sciences; Environmental Engineering

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