Control for autonomous vehicles in high dynamics maneuvers : LPV modeling and static feedback controller
Résumé
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration and braking. A Linear Parameter-Varying (LPV) model is obtained from the linearization of a non-linear model along the reference trajectory. A robust state feedback control law is computed for the LPV model. Finally, simulation results illustrate the stabilization of the vehicle along the reference trajectory.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)