Piecewise affine control for fast unmanned ground vehicles

Abstract : Unmanned ground vehicles (UGV) may experience skidding when moving at high speeds, and therefore have its safety jeopardized. For this reason the nonlinear dynamics of lateral tire forces must be taken into account into the design of steering controllers for autonomous vehicles. This paper presents the design of a state feedback piecewise affine controller applied to an UGV to coordinate the steering and torque distribution inputs in order to reduce vehicle skidding on demanding maneuvers. The control synthesis consists in solving an optimization procedure involving constraints in the form of Linear Matrix Inequalities which are obtained from stability conditions of a piecewise quadratic Lyapunov function. The improved performance of the piecewise affine controller with respect to a linear controller is confirmed through simulations on degraded tire-floor adhesion.
Type de document :
Communication dans un congrès
Conference on Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International, Oct 2012, Vilamoura, Portugal. pp.3673-3678, 2012, 〈10.1109/IROS.2012.6385675〉
Liste complète des métadonnées

Littérature citée [14 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-00870014
Contributeur : André Benine-Neto <>
Soumis le : vendredi 4 octobre 2013 - 16:21:26
Dernière modification le : jeudi 21 mars 2019 - 14:30:21
Document(s) archivé(s) le : dimanche 5 janvier 2014 - 07:25:08

Fichier

06385675.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

André Benine Neto, Christophe Grand. Piecewise affine control for fast unmanned ground vehicles. Conference on Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International, Oct 2012, Vilamoura, Portugal. pp.3673-3678, 2012, 〈10.1109/IROS.2012.6385675〉. 〈hal-00870014〉

Partager

Métriques

Consultations de la notice

229

Téléchargements de fichiers

145