Control for autonomous vehicles in high dynamics maneuvers : LPV modeling and static feedback controller
Résumé
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration and braking. A Linear Parameter-Varying (LPV) model is obtained from the linearization of a non-linear model along the reference trajectory. A robust state feedback control law is computed for the LPV model. Finally, simulation results illustrate the stabilization of the vehicle along the reference trajectory.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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