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Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach

Philip Polack 1 Brigitte d'Andréa-Novel 1 Michel Fliess 2, 3 Arnaud de la Fortelle 1 Lghani Menhour 4
1 CAOR - Centre de Robotique
2 LIX - Laboratoire d'informatique de l'École polytechnique [Palaiseau]
3 AL.I.E.N. - ALgèbre pour Identification & Estimation Numériques
4 CRESTIC - Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804
Abstract : This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a suitable control law. An important parameter in this control setting is made time-varying for ensuring finite-time stability. Several convincing computer simulations are displayed and discussed. Overshoots become therefore smaller. The driving comfort is increased and the robustness to time-delays is improved.
Keywords : autonomous vehicles intelligent controllers finite-time stability low-level longitudinal controller model-free control
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https://hal-polytechnique.archives-ouvertes.fr/hal-01498358
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Submitted on : Wednesday, March 29, 2017 - 8:45:01 PM
Last modification on : Monday, December 14, 2020 - 5:38:24 PM
Long-term archiving on: : Friday, June 30, 2017 - 5:16:50 PM

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CNRS | LIX | INSMI | ENSMP | TDS-MACS | X-LIX | ENSMP_CAOR | PARISTECH | URCA | CRESTIC | X | X-DEP-INFO | INSTITUT-TELECOM | PSL

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Philip Polack, Brigitte d'Andréa-Novel, Michel Fliess, Arnaud de la Fortelle, Lghani Menhour. Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach. IFAC World Congress, 2017, Toulouse, France. pp.12533-12538, ⟨10.1016/j.ifacol.2017.08.2191⟩. ⟨hal-01498358⟩

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