Article Dans Une Revue International Journal of Systems Science Année : 2026

Robust lateral control for scaled autonomous vehicles using LPV polytopic approach

Résumé

This paper presents the design, analysis, and experimental validation of a robust lateral control system for a scaled autonomous vehicle. More precisely, this work introduces a Linear Parameter Varying (LPV) polytopic controller with a novel design adapted to manage the lateral dynamics of vehicles for path-following tasks, by the integration of dynamic look-ahead distance as an independent LPV scheduling variable and an augmented look-ahead error model. Key challenges include handling varying longitudinal velocities and maintaining good performance under diverse operating conditions. In addition, we introduce a geometry-based reference yaw rate generation algorithm, designed for discrete map data and optimized for realtime execution using KD-tree search. We evaluate the performance of the controller through experimental tests on a scaled vehicle. Experimental results demonstrate that the proposed approach achieves precise path following with lateral errors consistently below 6 cm under varying longitudinal velocities, confirming its stability and robustness under speed variations and bridging the gap between theoretical LPV control and practical implementation.

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jeudi 18 juin 2026
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jeudi 18 juin 2026
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Dates et versions

hal-05507623 , version 1 (12-02-2026)

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Fouzi Tabouri, Nacim Meslem, Olivier Sename, Kim Guldstrand Larsen, Christian Schilling. Robust lateral control for scaled autonomous vehicles using LPV polytopic approach. International Journal of Systems Science, 2026, pp.1-18. ⟨10.1080/00207721.2026.2617150⟩. ⟨hal-05507623⟩
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