Speed-Adaptive Model-Free Lateral Control for Automated Cars. Issue 34 (2022)

• Record Type: Journal Article
• Authors: Moreno-Gonzalez, Marcos; Artuñedo, Antonio; Villagra, Jorge; Join, Cédric; Fliess, Michel
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 34(2022)
• Page Start: 84
• Page End: 89
• Publication Date: 2022
• Subjects: Autonomous vehicles -- Model-free control -- Adaptive control applications; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.11.312
• Languages: English
• ISSNs: 2405-8963

Abstract

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.