Now showing items 1-5 of 5

    • Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Escobet Canal, Teresa; Comasòlivas Font, Ramon (2018-04-01)
      Article
      Open Access
      This paper presents the control of an autonomous vehicle using a Lyapunov-based technique with a LQR-LMI tuning. Using the kinematic model of the vehicle, a non-linear control strategy based on Lyapunov theory is proposed ...
    • Gain-scheduling LPV control for autonomous vehicles including friction force estimation and compensation mechanism 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Escobet Canal, Teresa (2018-08-14)
      Article
      Open Access
      This study presents a solution for the integrated longitudinal and lateral control problem of urban autonomousvehicles. It is based on a gain-scheduling linear parameter-varying (LPV) control ...
    • LPV-MPC control of autonomous vehicles 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (2019)
      Conference report
      Open Access
      In this work, a novel approach is presented to solve the trajectory tracking problem for autonomous vehicles. This method is based on the use of a cascade control where the external loop solves the position control using ...
    • Modelling, planning and nonlinear control techniques for autonomous vehicles 

      Alcalá Baselga, Eugenio (Universitat Politècnica de Catalunya, 2016-06-20)
      Master thesis
      Open Access
      Autonomous driving has been an important topic of research in recent years. Autonomous driving is a very challenging research topic that requires from different disciplines such as electronics, computer vision, geolocalization, ...
    • TS-MPC for autonomous vehicles Including a TS-MHE-UIO estimator 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (Institute of Electrical and Electronics Engineers (IEEE), 2019-07-01)
      Article
      Open Access
      In this paper, a novel approach is presented to solve the trajectory tracking problem for autonomous vehicles. This approach is based on the use of a cascade control where the external loop solves the position control using ...