Flatness-based longitudinal vehicle control with embedded torque constraint

Hugues Mounier 1 Silviu-Iulian Niculescu 2 Arben Cela 3 Marcel Stefan Geamanu 4
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
Abstract : This paper aims at establishing a simple yet efficient solution to the problem of trajectory tracking with input constraint of a nonlinear longitudinal vehicle model. We make use of differential flatness, by embedding the constraint into the reference trajectory design.
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Hugues Mounier, Silviu-Iulian Niculescu, Arben Cela, Marcel Stefan Geamanu. Flatness-based longitudinal vehicle control with embedded torque constraint. IMA Journal of Mathematical Control and Information, Oxford University Press (OUP), 2018, pp.1-16. ⟨10.1093/imamci/dny005⟩. ⟨hal-01705876⟩

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