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Electrical Engineering and Systems Science > Systems and Control

arXiv:2210.01414 (eess)
[Submitted on 4 Oct 2022]

Title:Speed-Adaptive Model-Free Lateral Control for Automated Cars

Authors:Marcos Moreno-Gonzalez, Antonio Artuñedo, Jorge Villagra, Cédric Join, Michel Fliess
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Abstract:In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the longitudinal speed. Some studies address this problem by tuning a controller for low and high speeds and including an output adaptation law. In this paper, a strategy framed in the Model-Free Control paradigm is presented to laterally control the vehicle over a wide speed range. Tracking quality, system stability and passenger comfort are thoroughly analyzed and compared to similar control structures. The results obtained both in simulation and with a real vehicle show that the developed strategy tracks a large number of trajectories with high degree of accuracy, safety and comfort.
Comments: 8th Joint IFAC Conference: SSSC-TDS-LPV, September 27-30, 2022 -- Montreal, Canada
Subjects: Systems and Control (eess.SY)
Cite as: arXiv:2210.01414 [eess.SY]
  (or arXiv:2210.01414v1 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2210.01414

Submission history

From: Jorge Villagra [view email]
[v1] Tue, 4 Oct 2022 06:50:49 UTC (5,531 KB)
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