An LPV Approach to Autonomous Vehicle Path Tracking in the Presence of Steering Actuation Nonlinearities
| Autor: | Federico Roselli, Giulio Panzani, Matteo Corno, Sergio M. Savaresi, Michele Giorelli, Davide Azzolini |
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| Rok vydání: | 2021 |
| Předmět: |
Standards
Friction Computer science Autonomous vehicles Scheduling (production processes) 02 engineering and technology Tracking (particle physics) Vehicle dynamics 0203 mechanical engineering Control theory 0502 economics and business Electrical and Electronic Engineering 050210 logistics & transportation vehicle dynamics 05 social sciences MISO communication power steering 020302 automobile design & engineering Weighting Center of gravity Trajectory tracking Autonomous automobiles Control and Systems Engineering Trajectory Actuator Actuators |
| Zdroj: | IEEE Transactions on Control Systems Technology. 29:1766-1774 |
| ISSN: | 2374-0159 1063-6536 |
| DOI: | 10.1109/tcst.2020.3006123 |
| Popis: | This article deals with trajectory tracking for autonomous cars during evasive maneuvers and in the presence of steering actuator nonlinearities. This article develops an LPV MISO H-infinity controller based on the feedback of the lateral error at the center of gravity and the look-ahead distance. The controller architecture offers a way to cope with the effect of the steering nonlinearities, by scheduling one of the control weighting functions. A detailed experimental validation on three different maneuvers (straight driving, wide bend, and a double-lane change) shows the effectiveness of the proposed LPV solution. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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