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Robust grey-box closed-loop stop-and-go control

Abstract : This paper presents a robust stop-and-go control law, especially well adapted to car following scenarios in urban environments. Since many vehicle/road interaction factors (road slope, rolling resistance, aerodynamic forces) are very poorly known and measurements are quite noisy, a robust strategy is proposed within an algebraic framework. On the one hand, noisy signals will be processed in order to obtain accurate derivatives, and thereafter, variable estimates. On the other hand, a grey-box closed-loop control will be implemented to compensate all kind of unmodeled dynamics or parameter uncertainties.
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https://hal.inria.fr/inria-00319591
Contributor : Michel Fliess <>
Submitted on : Monday, September 8, 2008 - 6:51:06 PM
Last modification on : Monday, June 22, 2020 - 4:00:04 PM
Document(s) archivé(s) le : Friday, June 4, 2010 - 11:05:45 AM

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  • HAL Id : inria-00319591, version 1

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Jorge Villagra, Brigitte d'Andréa-Novel, Michel Fliess, Hugues Mounier. Robust grey-box closed-loop stop-and-go control. 47th IEEE Conference on Decision and Control, IEEE, Dec 2008, Cancun, Mexico. ⟨inria-00319591⟩

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