LPV/LFT Control Design Equipped with a Command Governor for Different Steering Scenarios - Université Grenoble Alpes Accéder directement au contenu
Communication Dans Un Congrès Année : 2021

LPV/LFT Control Design Equipped with a Command Governor for Different Steering Scenarios

Résumé

This paper presents a Linear Parameter Varying (LPV) based approach to handle different steering scenarios for autonomous vehicles. The proposed methodology consists of the design of a fast and performant LPV/LFT controller which can track the generated yaw rate reference, for speed operating range, for lane tracking and smooth/fast lane changes. The handling of a dynamic maneuver is achieved by a Command Governor (CG), which feeds the updated LPV/LFT closed loop system with a "virtual" yaw rate reference. This virtual signal is the solution of an online receding horizon optimization problem, meeting simultaneously safety bounds for the steering of the vehicle. The efficiency of the suggested methodology is illustrated by simulation results for parameters of an automated Renault Zoe.
Fichier principal
Vignette du fichier
LPVS_2021.pdf (823.71 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03227095 , version 1 (16-05-2021)

Identifiants

Citer

Dimitrios Kapsalis, Olivier Sename, Vicente Milanes, John Jairo Martinez Molina. LPV/LFT Control Design Equipped with a Command Governor for Different Steering Scenarios. LPVS 2021 - 4th IFAC Workshop on Linear Parameter Varying Systems, Jul 2021, Milan, Italy. ⟨10.1016/j.ifacol.2021.08.594⟩. ⟨hal-03227095⟩
51 Consultations
132 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More