Some remarks on wheeled autonomous vehicles and the evolution of their control design - École polytechnique Accéder directement au contenu
Communication Dans Un Congrès Année : 2016

Some remarks on wheeled autonomous vehicles and the evolution of their control design

Résumé

Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering stiffness coefficients of the tires, friction coefficient of the road, ..., which are notoriously difficult to identify. Then a model-free control strategy, which exploits the flat outputs, is proposed. Those outputs also depend on physical parameters which are poorly known, i.e., the vehicle mass and inertia and the position of the center of gravity. A totally model-free control law is therefore adopted. It employs natural output variables, namely the longitudinal velocity and the lateral deviation of the vehicle. This last method, which is easily understandable and implementable, ensures a robust trajectory tracking problem in both longitudinal and lateral dynamics. Several convincing computer simulations are displayed.
Fichier principal
Vignette du fichier
Leipzig_Mines_16.pdf (940.05 Ko) Télécharger le fichier
Origine : Fichiers éditeurs autorisés sur une archive ouverte
Loading...

Dates et versions

hal-01294825 , version 1 (29-03-2016)
hal-01294825 , version 2 (12-08-2016)

Identifiants

Citer

Brigitte d'Andréa-Novel, Lghani Menhour, Michel Fliess, Hugues Mounier. Some remarks on wheeled autonomous vehicles and the evolution of their control design. 9th IFAC Symposium on Intelligent Autonomous Vehicles, Jun 2016, Leipzig, Germany. ⟨hal-01294825v2⟩
982 Consultations
478 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More