Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
Visualitza/Obre
10.1016/j.conengprac.2017.12.004
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/118151
Tipus de documentArticle
Data publicació2018-04-01
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
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 for solving the control problem of autonomous guidance. To optimally adjust the parameters of the Lyapunov controller, the closed loop system is reformulated in a linear parameter varying (LPV) form. Then, an optimization algorithm that solves the LQR-LMI problem is used to determine the controller parameters. Furthermore, the tuning process is complemented by adding a pole placement constraint that guarantees that the maximum achievable performance of the kinematic loop could be
achieved by the dynamic loop. The obtained controller jointly with a trajectory generation module are in charge of the autonomous vehicle guidance. Finally, the paper illustrates the performance of the autonomous guidance system in a virtual reality environment (SYNTHIA) and in a real scenario achieving the proposed goal: to move
autonomously from a starting point to a final point in a comfortable way.
Descripció
© <year>. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/
CitacióAlcala, E., Puig, V., Quevedo, J., Escobet, T., Comasolivas, R. Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning. "Control engineering practice", 1 Abril 2018, vol. 73, p. 1-12.
ISSN0967-0661
Versió de l'editorhttps://www.sciencedirect.com/science/article/pii/S0967066117302721
Col·leccions
- Departament d'Enginyeria Minera, Industrial i TIC - Articles de revista [350]
- SIC - Sistemes Intel·ligents de Control - Articles de revista [133]
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Articles de revista [1.383]
- SAC - Sistemes Avançats de Control - Articles de revista [505]
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Articles de revista [375]
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Postprint Autonomous Vehicle Control.pdf | 3,236Mb | Visualitza/Obre |