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

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; low-level longitudinal controller; model-free control; finite-time stability; intelligent controllers

Domains: Computer Science [cs]; Systems and Control [cs.SY]; Computer Science [cs]; Automatic Control Engineering; Engineering Sciences [physics]; Automatic; Computer Science [cs]; Artificial Intelligence [cs.AI]; Mathematics [math]; Optimization and Control [math.OC]

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⟩