Static output feedback control for lane change maneuver

Abstract : This paper addresses the lateral control of a vehicle during lane change maneuvers. The proposed design procedure aims to answer the questions of control using cost-effective sensors implementation, adaptation to measured variables and robustness to unmeasured varying parameters. This is achieved through a static output feedback controller with preview information. The only used measurements are the lateral displacement at sensor location and the yaw angle relative to the lane centerline. The vehicle lateral model is augmented with an integral action, the error signal and the preview reference signal. The controller is synthesized using the LMI framework thanks to a relaxation method that removes the nonlinear terms. Simulations are conducted for various scenarios showing the ability of the design method to handle different performance objectives.
Document type :
Conference papers
Complete list of metadatas

Cited literature [35 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01817932
Contributor : Frédéric Davesne <>
Submitted on : Thursday, December 19, 2019 - 10:56:31 AM
Last modification on : Monday, January 6, 2020 - 1:32:59 PM

File

ICNSC_2018_vf.pdf
Files produced by the author(s)

Identifiers

Citation

Saïd Mammar, Hichem Arioui. Static output feedback control for lane change maneuver. 15th IEEE International Conference on Networking, Sensing and Control (ICNSC 2018), Mar 2018, Zhuhai, China. ⟨10.1109/ICNSC.2018.8361306⟩. ⟨hal-01817932⟩

Share

Metrics

Record views

85

Files downloads

6