| Record |
Author  |
Eugenio Alcala; Laura Sellart; Vicenc Puig; Joseba Quevedo; Jordi Saludes; David Vazquez; Antonio Lopez |
| Title |
Comparison of two non-linear model-based control strategies for autonomous vehicles |
Type |
Conference Article |
| Year |
2016 |
Publication |
24th Mediterranean Conference on Control and Automation |
Abbreviated Journal |
|
| Volume |
|
Issue |
|
Pages |
846-851 |
| Keywords |
Autonomous Driving; Control |
| Abstract |
This paper presents the comparison of two nonlinear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using this approach, the error dynamics model is developed. Both controllers receive as input the longitudinal, lateral and orientation errors generating as control outputs the steering angle and the velocity of the vehicle. The first control approach is based on a non-linear control law that is designed by means of the Lyapunov direct approach. The second approach is based on a sliding mode-control that defines a set of sliding surfaces over which the error trajectories will converge. The main advantage of the sliding-control technique is the robustness against non-linearities and parametric uncertainties in the model. However, the main drawback of first order sliding mode is the chattering, so it has been implemented a high order sliding mode control. To test and compare the proposed control strategies, different path following scenarios are used in simulation. |
| Address |
Athens; Greece; June 2016 |
| Corporate Author |
|
Thesis |
|
| Publisher |
|
Place of Publication |
|
Editor |
|
| Language |
|
Summary Language |
|
Original Title |
|
| Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
| Series Volume |
|
Series Issue |
|
Edition |
|
| ISSN |
|
ISBN |
|
Medium |
|
| Area |
|
Expedition |
|
Conference |
MED |
| Notes |
ADAS; 600.085; 600.082; 600.076 |
Approved |
no |
| Call Number |
ADAS @ adas @ ASP2016 |
Serial |
2750 |
| Permanent link to this record |
