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Article Dans Une Revue IET Control Theory and Applications Année : 2021

Gain-Scheduled Steering Control for Autonomous Vehicles


This paper presents a Linear Parameter Varying (LPV) approach for automatic steering of a vehicle. The proposed gain-scheduled steering system is based on gridding the parameter space to treat the whole operating domain of longitudinal speeds. Combining a dynamical vehicle model with look-ahead dynamics, the desired closed-loop performances can be achieved for every speed using properly parameter dependent functions to satisfy the control objectives. The gain-scheduled controller is implemented and validated experimentally, and compared with a classical LPV polytopic controller, in order to assess the efficiency of the proposed approach.
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hal-02904666 , version 1 (10-03-2021)



Dimitrios Kapsalis, Olivier Sename, Vicente Milanés, John Jairo Martinez Molina. Gain-Scheduled Steering Control for Autonomous Vehicles. IET Control Theory and Applications, 2021, 14 (20), pp.3451 - 3460. ⟨10.1049/iet-cta.2020.0698⟩. ⟨hal-02904666⟩
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