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Author (up) Eugenio Alcala; Laura Sellart; Vicenc Puig; Joseba Quevedo; Jordi Saludes; David Vazquez; Antonio Lopez edit   pdf
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  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  
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