Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach
Systems and Control
2017-04-06 v1 Artificial Intelligence
Optimization and Control
Abstract
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a suitable control law. An important parameter in this control setting is made time-varying for ensuring finite-time stability. Several convincing computer simulations are displayed and discussed. Overshoots become therefore smaller. The driving comfort is increased and the robustness to time-delays is improved.
Keywords
Cite
@article{arxiv.1704.01383,
title = {Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach},
author = {Philip Polack and Brigitte d'Andréa-Novel and Michel Fliess and Arnaud de la Fortelle and Lghani Menhour},
journal= {arXiv preprint arXiv:1704.01383},
year = {2017}
}
Comments
IFAC 2017 World Congress, Toulouse