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

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.
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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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