Coupled nonlinear vehicle control: Flatness-based setting with algebraic estimation techniques - Mines Paris Accéder directement au contenu
Article Dans Une Revue Control Engineering Practice Année : 2014

Coupled nonlinear vehicle control: Flatness-based setting with algebraic estimation techniques

Résumé

A combined nonlinear longitudinal and lateral vehicle control is investigated. Flatness-based nonlinear control and new algebraic estimation techniques for noise removal and numerical differentiation are the main theoretical tools. An accurate automatic path-tracking via vehicle steering angle and driving/braking wheel torque is thus ensured. It combines the control of the lateral and longitudinal motions in order to track straight or curved trajectories and to perform a combined lane-keeping and steering control during critical driving situations such as obstacle avoidance, stop-and-go control, lane-change maneuvers or any other maneuvers. Promising results have been obtained with noisy experimental data, which were acquired by a laboratory vehicle with high dynamic loads and high lateral accelerations.
Fichier principal
Vignette du fichier
CEP_13.pdf (1.12 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00869053 , version 1 (02-10-2013)

Identifiants

Citer

Lghani Menhour, Brigitte d'Andréa-Novel, Michel Fliess, Hugues Mounier. Coupled nonlinear vehicle control: Flatness-based setting with algebraic estimation techniques. Control Engineering Practice, 2014, 22, pp.135-146. ⟨10.1016/j.conengprac.2013.09.013⟩. ⟨hal-00869053⟩
1065 Consultations
1633 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More