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Speed-adaptive model-free lateral control for automated cars

Abstract : In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the longitudinal speed. Some studies address this problem by tuning a controller for low and high speeds and including an output adaptation law. In this paper, a strategy framed in the Model-Free Control paradigm is presented to laterally control the vehicle over a wide speed range. Tracking quality, system stability and passenger comfort are thoroughly analyzed and compared to similar control structures. The results obtained both in simulation and with a real vehicle show that the developed strategy tracks a large number of trajectories with high degree of accuracy, safety and comfort.
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https://hal-polytechnique.archives-ouvertes.fr/hal-03745359
Contributor : Michel Fliess Connect in order to contact the contributor
Submitted on : Thursday, August 4, 2022 - 9:37:23 AM
Last modification on : Saturday, August 6, 2022 - 3:10:10 AM

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  • HAL Id : hal-03745359, version 1

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Marcos Moreno-Gonzalez, Antonio Artuñedo, Jorge Villagra, Cédric Join, Michel Fliess. Speed-adaptive model-free lateral control for automated cars. Joint IFAC Conference: SSSC – TDS – LPVS, Sep 2022, Montreal, Canada. ⟨hal-03745359⟩

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