Immersion and Invariance Control for Lateral Dynamics of Autonomous Vehicles, with Experimental Validation

Reine Talj (1) , Gilles Tagne (1) , Ali Charara (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

Autonomous intelligent vehicles are under intensive development, especially this last decade. The autonomous navigation consists on developing three main key steps: 1. environment perception, 2. path planning and decision, and 3. vehicle control. This paper focus on the lateral control of intelligent vehicles ; it presents design and experimental validation of a vehicle lateral controller based on Immersion and Invariance (I&I) principle, to minimize the lateral displacement of the autonomous vehicle with respect to a given reference trajectory. The control input is the steering angle and the output is the lateral error displacement. The closed-loop system simulated on Matlab-Simulink has been compared to the experimental data acquired on our vehicle DYNA, a Peugeot 308, according to several driving scenarios. The experimental validation shows robustness and good performance of the proposed control approach.

Domaines: Automatique

Reine Talj, Gilles Tagne, Ali Charara. Immersion and Invariance Control for Lateral Dynamics of Autonomous Vehicles, with Experimental Validation. European Control Conference (ECC 2013), Jul 2013, Zurich, Switzerland. pp.968-973. ⟨hal-00879626⟩