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Communication Dans Un Congrès Année : 2020

Parameter Varying Approach For A Combined (Kinematic + Dynamic) Model Of Autonomous Vehicles

Résumé

This paper proposes a solution for the integrated longitudinal and lateral control problem of autonomous vehicles. A mixed model including kinematic and dynamic behaviour of the vehicle is used to design a single controller to achieve stability and tracking performances. The proposed solution is based on the Linear Parameter Varying (LPV) control approach, where an output-feedback dynamical controller is designed based on Linear Matrix Inequalities (LMIs). The control synthesis is carried on using the gridded-based approach to reduce the conservatism. Simulation results show the stabilization of the vehicle with robustness in tracking performances, in the presence of the road friction coefficient disturbances.
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Dates et versions

hal-02880397 , version 1 (25-06-2020)

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Hussam Atoui, Olivier Sename, Eugenio Alcala, Vicenç Puig. Parameter Varying Approach For A Combined (Kinematic + Dynamic) Model Of Autonomous Vehicles. IFAC WC 2020 - 21st IFAC World Congress, Jul 2020, Berlin (virtual), Germany. ⟨10.1016/j.ifacol.2020.12.2028⟩. ⟨hal-02880397⟩
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