The newly introduced model-free control is applied to a multivariable decoupled longitudinal and lateral vehicle control. It combines two outputs (lateral and longitudinal motions) via two inputs (braking/traction wheel torques and steering angle). It yields driving maneuvers requiring a control coordination of steering angle, braking and traction torques, in order to ensure an accurate tracking in straight or curved trajectories. It is also robust with respect to modeling errors and parametric uncertainties, even during critical driving situations, where such a control is required. Convincing computer simulations are displayed with noisy real data from a laboratory vehicle, which were used as reference trajectories and acquired under high lateral accelerations.
Publié le : 2013-12-10
Classification:
flatness-based control.,
flatness-based control,
Intelligent transportation systems,
decoupled longitudinal/lateral vehicle control,
model-free control,
intelligent proportional-integral controllers,
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering,
[SPI.AUTO]Engineering Sciences [physics]/Automatic,
[MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC],
[SDE.IE]Environmental Sciences/Environmental Engineering
@article{hal-00859444,
author = {Menhour, Lghani and D'Andr\'ea-Novel, Brigitte and Fliess, Michel and Mounier, Hugues},
title = {Multivariable decoupled longitudinal and lateral vehicle control: A model-free design},
journal = {HAL},
volume = {2013},
number = {0},
year = {2013},
language = {en},
url = {http://dml.mathdoc.fr/item/hal-00859444}
}
Menhour, Lghani; D'Andréa-Novel, Brigitte; Fliess, Michel; Mounier, Hugues. Multivariable decoupled longitudinal and lateral vehicle control: A model-free design. HAL, Tome 2013 (2013) no. 0, . http://gdmltest.u-ga.fr/item/hal-00859444/