Design of Passivity-Based Controllers for Lateral Dynamics of Intelligent Vehicles
Résumé
This paper deals with the lateral control of intelligent vehicles. It is based on the passivity results presented
recently in [1]. It shows how the intrinsic properties of the
lateral dynamics can be used to design robust controllers for
tracking of a reference trajectory. The additional passivity properties
proved in this paper allow to theoretically explain some
previous results in the literature. Then a PI controller based on
the state feedback of passive outputs is proposed. Simulation
validation was performed using real data representing common
driving situations. Data acquisition has been made using the
vehicle DYNA of Heudiasyc laboratory. This validation serves to
highlight the improvement provided by the proposed approach.
Origine : Fichiers produits par l'(les) auteur(s)
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