Passivity Analysis and Design of a Robust Nested Passivity-Based Controller for Trajectory Tracking of Autonomous Vehicles
Résumé
This paper focuses on the lateral control of intelligent vehicles. The aim is
to minimize the lateral displacement of the autonomous vehicle with respect to a given
reference trajectory. The control input is the steering angle and the output is the lateral error
displacement. After passivity analysis of the system to establish the properties of passivity
between the inputs and outputs, we present design and validation of a robust lateral nested
controller based on passivity, to ensure robust stability and good performances with respect
to parametric variations and uncertainties encountered in driving applications. To validate the
control strategy, the simulation of the closed-loop system on Matlab-Simulink has been made
using the experimental data acquired on the vehicle DYNA of Heudiasyc laboratory (a Peugeot
308), according to several real driving scenarios. The validation shows robustness and good
performances of the proposed control approach, and puts in evidence the improvement brought
by the Nested PBC controller.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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