Comparison of two non-linear model-based control strategies for autonomous vehicles
Document typeConference report
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
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 non-linear control law that is designed by means of the Lyapunov direct approach. The second approach is based on a sliding mode-control that defines a set of sliding surfaces over which the error trajectories will converge. The main advantage of the sliding-control technique is the robustness against non-linearities and parametric uncertainties in the model. However, the main drawback of first ordersliding mode is the chattering, so it has been implemented a high order sliding mode control. To test and compare the proposed control strategies, different path following scenarios are used in simulation.
CitationAlcalá, 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.
- SAC - Sistemes Avançats de Control - Ponències/Comunicacions de congressos 
- SIC - Sistemes Intel·ligents de Control - Ponències/Comunicacions de congressos 
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos 
- Departament de Matemàtiques - Ponències/Comunicacions de congressos