تقرير
Speed-Adaptive Model-Free Lateral Control for Automated Cars
| العنوان: | Speed-Adaptive Model-Free Lateral Control for Automated Cars |
|---|---|
| المؤلفون: | Moreno-Gonzalez, Marcos, Artuñedo, Antonio, Villagra, Jorge, Join, Cédric, Fliess, Michel |
| سنة النشر: | 2022 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Electrical Engineering and Systems Science - Systems and Control |
| الوصف: | 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. Comment: 8th Joint IFAC Conference: SSSC-TDS-LPV, September 27-30, 2022 -- Montreal, Canada |
| نوع الوثيقة: | Working Paper |
| الوصول الحر: | http://arxiv.org/abs/2210.01414Test |
| رقم الانضمام: | edsarx.2210.01414 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |