Accéder directement au contenu Accéder directement à la navigation
Communication dans un congrès

Design And Experimental Validation Of A Lateral LPV Control Of Autonomous Vehicles

Abstract : This paper presents a multi-scenario full-range speed lateral automated vehicle controller. A speed-dependent LPV model is designed to deal with two different situations: 1) vehicle tracking capabilities to follow a pre-defined trajectory; and 2) vehicle response to sudden reference changes as occur either when activating the automated system for the first time or when performing a lane-change. The proposed solution is based on the Linear Parameter Varying (LPV) control approach, where an output-feedback dynamical controller is designed based on the Linear Matrix Inequalities (LMIs). The control synthesis is carried out using the Linear Fractional Transformation approach, to reduce the conservatism, combined with the H∞ control problem. Simulation results show the tracking performance and the smoothness of the control inputs which provides a comfortable riding. Finally, the algorithm has been implemented on a robotized Renault ZOE and validates on test tracks, providing encouraging results.
Type de document :
Communication dans un congrès
Liste complète des métadonnées

Littérature citée [21 références]  Voir  Masquer  Télécharger

https://hal.univ-grenoble-alpes.fr/hal-02882631
Contributeur : Hussam Atoui <>
Soumis le : vendredi 26 juin 2020 - 23:48:37
Dernière modification le : mercredi 14 octobre 2020 - 03:51:15

Fichier

ITSC20_Design_And_Experimental...
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-02882631, version 1

Collections

Citation

H. Atoui, V Milanés, O. Sename, John Martinez. Design And Experimental Validation Of A Lateral LPV Control Of Autonomous Vehicles. 23rd International Conference on Intelligent Transportation Systems (ITSC), Sep 2020, Virtual Conference, Greece. ⟨hal-02882631⟩

Partager

Métriques

Consultations de la notice

34

Téléchargements de fichiers

35