Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach

2017/04/05 by Polack, Philip, d'Andréa-Novel, Brigitte, Fliess, Michel +2
#Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.1704.01383

Abstract

This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a suitable control law. An important parameter in this control setting is made time-varying for ensuring finite-time stability. Several convincing computer simulations are displayed and discussed. Overshoots become therefore smaller. The driving comfort is increased and the robustness to time-delays is improved.

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