2016/04/07 by Brigitte d’Andréa-Novel, Lghani Menhour, d'Andréa-Novel, Brigitte +5
Engineering · #Control and Dynamics of Mobile Robots #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Systems and Control (eess.SY) #Vehicle Dynamics and Control Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1604.02083
openalex publication_date 2016/04/07 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/28
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering stiffness coefficients of the tires, friction coefficient of the road, ..., which are notoriously difficult to identify. Then a model-free control strategy, which exploits the flat outputs, is proposed. Those outputs also depend on physical parameters which are poorly known, i.e., the vehicle mass and inertia and the position of the center of gravity. A totally model-free control law is therefore adopted. It employs natural output variables, namely the longitudinal velocity and the lateral deviation of the vehicle. This last method, which is easily understandable and implementable, ensures a robust trajectory tracking problem in both longitudinal and lateral dynamics. Several convincing computer simulations are displayed.