This article deals with trajectory tracking for autonomous cars during evasive maneuvers and in the presence of steering actuator nonlinearities. This article develops an LPV MISO H-infinity controller based on the feedback of the lateral error at the center of gravity and the look-ahead distance. The controller architecture offers a way to cope with the effect of the steering nonlinearities, by scheduling one of the control weighting functions. A detailed experimental validation on three different maneuvers (straight driving, wide bend, and a double-lane change) shows the effectiveness of the proposed LPV solution.

An LPV Approach to Autonomous Vehicle Path Tracking in the Presence of Steering Actuation Nonlinearities

Corno, M;Panzani, G;Roselli, F;Savaresi, SM
2020-01-01

Abstract

This article deals with trajectory tracking for autonomous cars during evasive maneuvers and in the presence of steering actuator nonlinearities. This article develops an LPV MISO H-infinity controller based on the feedback of the lateral error at the center of gravity and the look-ahead distance. The controller architecture offers a way to cope with the effect of the steering nonlinearities, by scheduling one of the control weighting functions. A detailed experimental validation on three different maneuvers (straight driving, wide bend, and a double-lane change) shows the effectiveness of the proposed LPV solution.
2020
Actuators
Vehicle dynamics
Autonomous vehicles
Friction
Trajectory tracking
Standards
MISO communication
Autonomous automobiles
autonomous vehicles
power steering
vehicle dynamics
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1207491
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