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Conference Papers Year : 2021

Self-scheduled $H_\infty$ control of autonomous vehicle in collision avoidance maneuvers

Dario Penco
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  • PersonId : 1113933
Joan Davins-Valldaura
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  • PersonId : 1113934
Emmanuel Godoy
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  • PersonId : 1055594
Pedro Kvieska
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  • PersonId : 1113935

Abstract

This article presents the development of a control law for vehicle steering, acceleration and braking in the autonomous driving context. A self-scheduled robust feedback control design strategy is proposed for the stabilization of the vehicle along a predefined reference collision avoidance maneuver. A non-linear vehicle model with tire forces saturation is developed. Its linearization along the reference trajectory leads to a Linear Parameter-Varying (LPV) model. An LPV H ∞ control law with pole placement is computed for the LPV model. Simulation results illustrate the stabilization of the vehicle along the reference trajectory.
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Dates and versions

hal-03384268 , version 1 (18-10-2021)

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Dario Penco, Joan Davins-Valldaura, Emmanuel Godoy, Pedro Kvieska, Giorgio Valmorbida. Self-scheduled $H_\infty$ control of autonomous vehicle in collision avoidance maneuvers. Linear Parameter Varying Systems - 4th LPVS 2021, Jul 2021, Milan, Italy. ⟨10.1016/j.ifacol.2021.08.595⟩. ⟨hal-03384268⟩
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