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

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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.
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Dates and versions

hal-01498358 , version 1 (29-03-2017)

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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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