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Conference Papers Year : 2021

Control for autonomous vehicles in high dynamics maneuvers : LPV modeling and static feedback controller

Abstract

This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration and braking. A Linear Parameter-Varying (LPV) model is obtained from the linearization of a non-linear model along the reference trajectory. A robust state feedback control law is computed for the LPV model. Finally, simulation results illustrate the stabilization of the vehicle along the reference trajectory.

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Dates and versions

hal-03487443 , version 1 (17-12-2021)

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Dario Penco, Joan Davins-Valldaura, Emmanuel Godoy, Pedro Kvieska, Giorgio Valmorbida. Control for autonomous vehicles in high dynamics maneuvers : LPV modeling and static feedback controller. 2021 Conference on Control Technology and Applications, Aug 2021, San Diego, United States. ⟨10.1109/ccta48906.2021.9658928⟩. ⟨hal-03487443⟩
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