Multivariable decoupled longitudinal and lateral vehicle control: A model-free design

Menhour, Lghani; d’Andréa-Novel, Brigitte; Fliess, Michel; Mounier, Hugues

doi:10.1109/cdc.2013.6760313

Cited by 33 publications

(25 citation statements)

References 23 publications

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“…Although disturbances can be compensated with the integral controller further investigations may study the implementation of a disturbance attenuation controller on the testbed, see Bröcker (2002). Another research subject could be to investigate the model-free approach, see Menhour et al (2013). Further investigations of the linearized ball in tube system for the flatness based control can show differences and similarities between the methods for nonlinear and linear systems.…”

Section: Resultsmentioning

confidence: 96%

Flatness based control of a ball in tube system

Herrmann

Broecker

2015

IFAC-PapersOnLine

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This paper deals with the derivation and the implementation of a flatness based control for a nonlinear ball in tube system as a testbed. For this purpose the system equations are quoted, considering that the system properties are changing in dependence on a positive or a negative fan acceleration. The proof for the ball position as chosen output shows that the system has the attribute flat. On the basis of this proof a precontrol law is calculated, in order to track the output to a predefined reference trajectory exactly, in case of an ideal model and non-occurring disturbances. Within the whole feedforward control the nonlinear static gain of the DC motor is taken into account by the use of an inverse measured characteristic. The feedforward control is combined with a state feedback and an integral controller. The control quality of the closed-loop system is evaluated with a setpoint transition in form of three different trajectories. In this evaluation the performance is compared using the control concept with and without the integral controller. Concluding the disturbance rejection of the ball in tube system is examined.

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Section: Resultsmentioning

confidence: 96%

Flatness based control of a ball in tube system

Herrmann

Broecker

2015

IFAC-PapersOnLine

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“…In this study, the simulation stage is carried out according to the diagram block of Fig. 4 and uses two levels of simulation and three different platforms: firstly a Matlab platform is used with a full nonlinear model of the instrumented Peugeot 406 car as in [32], and secondly thanks to the pro-SiVIC 1 platform [26], [25], [40], [24] interconnected with RTMaps platform 2 , we will simulate complex vehicle dynamical modeling [35], environment, infrastructure, and realistic embedded sensors. Moreover pro-SiVIC will provide mechanisms allowing to generate very accurate ground truth for the evaluation and validation stages.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…[12], [13]). For obvious reasons let us insist here on its applications to intelligent transportation systems: see [1], [8], [41], [42], and [32]. This last reference was briefly discussed in Section I.…”

Section: Or Control Purposesmentioning

confidence: 99%

An Efficient Model-Free Setting for Longitudinal and Lateral Vehicle Control: Validation Through the Interconnected Pro-SiVIC/RTMaps Prototyping Platform

Menhour

d’Andréa-Novel

Fliess

et al. 2018

IEEE Trans. Intell. Transport. Syst.

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Abstract-In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric uncertainties, for the vehicle mass, inertia or for the interaction forces between the wheels and the road pavement. To overcome this type of difficulties, we consider a model-free control approach leading to "intelligent" controllers. The longitudinal and the lateral motions, on one hand, and the driving/braking torques and the steering wheel angle, on the other hand, are respectively the output and the input variables. An important part of this work is dedicated to present simulation results with actual data. Actual data, used in Matlab as reference trajectories, have been previously recorded with an instrumented Peugeot 406 experimental car. The simulation results show the efficiency of our approach. Some comparisons with a nonlinear flatnessbased control in one hand, and with a classical PID control in another hand confirm this analysis. Other virtual data have been generated through the interconnected platform SiVIC/RTMaps, which is a virtual simulation platform for prototyping and validation of advanced driving assistance systems.

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“…A combined lateral and longitudinal control of vehicles was considered in [8]. The authors in [9] and [10] also proposed a combined longitudinal and lateral vehicle control employing algebraic estimation techniques coupled with flatness-based control or model-free control.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear control for the vehicle by numerical inversion of its behavioral model

Nguyen

Miras

Bonnet

et al. 2015

2015 European Control Conference (ECC)

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International audienceThis paper deals with the nonlinear longitudinal and lateral combined control for the vehicle based on a simple, fast, nonlinear dicrete time control approach. An approximate numerical one-step time discretization of the nonlinear plant model behavior is used to find out the outputs of controller that minimize the distance between the plant output and a linear system as closed loop reference, leading the system to adopt its dynamical behavior. Since that approximation is obtained from offline simulations and the prediction horizon is limited to one time-step, the execution time of the algorithm can be completely bounded. Experimental results obtained from some simulations show the performance and robustness of the proposed controller

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Multivariable decoupled longitudinal and lateral vehicle control: A model-free design

Cited by 33 publications

References 23 publications

Flatness based control of a ball in tube system

Flatness based control of a ball in tube system

An Efficient Model-Free Setting for Longitudinal and Lateral Vehicle Control: Validation Through the Interconnected Pro-SiVIC/RTMaps Prototyping Platform

Nonlinear control for the vehicle by numerical inversion of its behavioral model

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