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Título: | Speed-Adaptive Model-Free Lateral Control for Automated Cars |
Autor: | Moreno-Gonzalez, Marcos CSIC ORCID ; Artuñedo Antonio ; Villagrá, Jorge CSIC ORCID ; Cédric Join; Fliess Michel | Palabras clave: | Autonomous vehicles Model-free control Adaptive control applications |
Fecha de publicación: | 30-nov-2022 | Editor: | Elsevier | Citación: | 8th IFAC Symposium on System Structure and Control SSSC 55 (34) 84-89 (2022) | Resumen: | 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. | Versión del editor: | https://doi.org/10.1016/j.ifacol.2022.11.312 | URI: | http://hdl.handle.net/10261/337094 |
Aparece en las colecciones: | (CAR) Artículos |
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Fichero | Descripción | Tamaño | Formato | |
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Speed-Adaptive.pdf | Artículo principal | 2,04 MB | Adobe PDF | Visualizar/Abrir |
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