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

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10.1016/j.conengprac.2017.12.004
 
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hdl:2117/118151

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Alcalá Baselga, EugenioMés informació
Puig Cayuela, VicençMés informacióMés informacióMés informació
Quevedo Casín, Joseba JokinMés informacióMés informacióMés informació
Escobet Canal, TeresaMés informacióMés informacióMés informació
Comasòlivas Font, RamonMés informacióMés informació
Document typeArticle
Defense date2018-04-01
Rights accessOpen Access
Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain
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.
Description
© <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/
CitationAlcala, 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. 
URIhttp://hdl.handle.net/2117/118151
DOI10.1016/j.conengprac.2017.12.004
ISSN0967-0661
Publisher versionhttps://www.sciencedirect.com/science/article/pii/S0967066117302721
Collections
  • Departament d'Enginyeria Minera, Industrial i TIC - Articles de revista [282]
  • SIC - Sistemes Intel·ligents de Control - Articles de revista [120]
  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Articles de revista [1.187]
  • SAC - Sistemes Avançats de Control - Articles de revista [412]
  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Articles de revista [290]
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