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 : low-level longitudinal controller model-free control finite-time stability intelligent controllers autonomous vehicles
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Conference papers
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  • HAL Id : hal-01498358, version 1
  • ARXIV : 1704.01383

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

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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 2017 World Congress, IFAC (International Federation of Automatic Control), Jul 2017, Toulouse, France. ⟨hal-01498358⟩

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