Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free ApproachReport as inadecuate




Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach - Download this document for free, or read online. Document in PDF available to download.

1 CAOR - Centre de Robotique 2 LIX - Laboratoire d-informatique de l-École polytechnique Palaiseau 3 AL.I.E.N. - ALgèbre pour Identification & Estimation Numériques 4 Institut Universitaire de Technologie CRESTIC - EA 3804 - Université de Reims-Champagne-Ardenne

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.

Keywords : low-level longitudinal controller model-free control finite-time stability intelligent controllers autonomous vehicles





Author: Philip Polack - Brigitte D-Andréa-Novel - Michel Fliess - Arnaud De La Fortelle - Lghani Menhour -

Source: https://hal.archives-ouvertes.fr/



DOWNLOAD PDF




Related documents