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dc.contributor.authorAlcalá, Eugenio
dc.contributor.authorSellart, Laura
dc.contributor.authorPuig Cayuela, Vicenç
dc.contributor.authorQuevedo Casín, Joseba Jokin
dc.contributor.authorSaludes Closa, Jordi
dc.contributor.authorVázquez, David
dc.contributor.authorLópez, Antonio
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtiques
dc.date.accessioned2016-09-06T09:49:33Z
dc.date.available2016-09-06T09:49:33Z
dc.date.issued2016
dc.identifier.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.
dc.identifier.isbn978-1-4673-8345-5
dc.identifier.urihttp://hdl.handle.net/2117/89595
dc.description.abstractThis 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.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshAutonomous vehicles
dc.titleComparison of two non-linear model-based control strategies for autonomous vehicles
dc.typeConference report
dc.subject.lemacVehicles autònoms
dc.contributor.groupUniversitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
dc.contributor.groupUniversitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control
dc.identifier.doi10.1109/MED.2016.7535921
dc.rights.accessOpen Access
local.identifier.drac18820734
dc.description.versionPostprint (published version)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO//DPI2014-58104-R/ES/CONTROL BASADO EN LA SALUD Y LA RESILIENCIA DE INFRAESTRUCTURAS CRITICAS Y SISTEMAS COMPLEJOS/
local.citation.authorAlcalá, E.; Sellart, L.; Puig, V.; Quevedo, J.; Saludes, J.; Vázquez, D.; López, A.
local.citation.contributorMediterranean Conference on Control and Automation
local.citation.pubplaceAthens
local.citation.publicationName2016 The 24th Mediterranean Conference on Control and Automation (MED)
local.citation.startingPage846
local.citation.endingPage851


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