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
File in questo prodotto:
File Dimensione Formato  
An_LPV_Approach_to_Autonomous_Vehicle_Path_Tracking_in_the_Presence_of_Steering_Actuation_Nonlinearities.pdf

Accesso riservato

Descrizione: publisher version
: Publisher’s version
Dimensione 2 MB
Formato Adobe PDF
2 MB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1207491
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 36
  • ???jsp.display-item.citation.isi??? 17
social impact