Piecewise affine output feedback controller for vehicle lane keeping
Résumé
This paper presents the design and simulation test of a piecewise affine output-feedback controller for vehicle lane keeping. The design of the proposed lane keeping system takes into account the entire domain of lateral tire forces through piecewise affine approximations of the tire forces nonlinear behavior. The computation of the control law is casted as Bilinear Matrix Inequalities optimization procedure which is solved using the V-K-method to find simultaneously a piecewise quadratic Lyapunov function and the piecewise affine regulator and estimator structures. Simulation tests show the controlled car is able to well achieve the standard ISO-3888-2 transient maneuver.
Mots clés
Bilinear matrix inequality
Control laws
Design and simulation
Entire domain
Lane keeping
Lateral tire force
Nonlinear behavior
Optimization procedures
Output feedback controller
Output-feedback controllers
Piece-wise quadratic Lyapunov function
Piecewise affine approximation
Piecewise affines
Simulation tests
Tire forces
Transient maneuvers
Vehicle lane keeping
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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