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Comparison of two non-linear model-based control strategies for autonomous vehicles

Author
Alcala, E.; Sellart, L.; Puig, V.; Quevedo, J.; Saludes, J.; Vázquez, D.; Lopez Pena, Antonio Manuel
Type of activity
Presentation of work at congresses
Name of edition
24th Mediterranean Conference on Control and Automation
Date of publication
2016
Presentation's date
2016-06-23
Book of congress proceedings
2016 The 24th Mediterranean Conference on Control and Automation (MED)
First page
846
Last page
851
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/MED.2016.7535921 Open in new window
Repository
http://hdl.handle.net/2117/89595 Open in new window
Abstract
This paper presents the comparison of two nonlinear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using this approach, the error dynamics model is developed. Both controllers receive as input the longitudinal, lateral and orientation errors generating as control outputs the steering angle and the velocity of the vehicle. The first control approach is based on a n...
Citation
Alcalá, E., Sellart, L., Puig, V., Quevedo, J., Saludes, J., Vázquez, D., López, A. Comparison of two non-linear model-based control strategies for autonomous vehicles. A: Mediterranean Conference on Control and Automation. "2016 The 24th Mediterranean Conference on Control and Automation (MED)". Athens: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 846-851.
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems
SIC - Smart Control Systems

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