This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration and braking. A Linear Parameter-Varying (LPV) model is obtained from the linearization of a non-linear model along the reference trajectory. A robust state feedback control law is computed for the LPV model. Finally, simulation results illustrate the stabilization of the vehicle along the reference trajectory.
@article{arxiv.2102.07469,
title = {Control for autonomous vehicles in collision avoidance maneuvers : LPV modeling and static feedback controller},
author = {Penco Dario and Davins-Valldaura Joan and Godoy Emmanuel and Kvieska Pedro and Valmorbida Giorgio},
journal= {arXiv preprint arXiv:2102.07469},
year = {2021}
}