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Speed-Adaptive Model-Free Lateral Control for Automated Cars
- Publication Year :
- 2022
-
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.<br />Comment: 8th Joint IFAC Conference: SSSC-TDS-LPV, September 27-30, 2022 -- Montreal, Canada
- Subjects :
- Electrical Engineering and Systems Science - Systems and Control
Subjects
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.2210.01414
- Document Type :
- Working Paper