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Article Dans Une Revue Control Engineering Practice Année : 2019

Brake and velocity model-free control on an actual vehicle

Résumé

A tuning procedure for the model-free control paradigm introduced in Fliess and Join (2013) is proposed. This controller requires an estimate of the system dynamics usually obtained using an ALIEN filter, presented in Fliess and Sira-Ramírez (2003). Several implementation issues of this ALIEN filter, such as the order of the numerical quadrature, are discussed and overcome. Finally, the control law is applied to two systems: the low-level braking system of a vehicle and its longitudinal speed control. Experimental results on a real vehicle are provided and compared with a classic PI controller.
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Dates et versions

hal-03488312 , version 1 (20-07-2022)

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Paternité - Pas d'utilisation commerciale

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Philip Polack, Sebastien Delprat, Brigitte D’andréa-Novel. Brake and velocity model-free control on an actual vehicle. Control Engineering Practice, 2019, 92, pp.104072 -. ⟨10.1016/j.conengprac.2019.06.011⟩. ⟨hal-03488312⟩
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