Lateral Speed Control of an Autonomous Vehicle employing Linear Parameter Varying Techniques

https://doi.org/10.58571/CNCA.AMCA.2022.031

Resumen: This paper presents a lateral speed controller for an autonomous vehicle based on linear parameter varying (LPV) modelling. The lateral control is highly implemented in cars due to assisted direction and trajectory corrections provided by electronic speed controllers (ESC). In order to guarantee the stability and performance criteria of the proposed controllers, Linear Matrix Inequalities (LMI) are used. The proposed schemes are then validated under different simulations.

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Díaz-Aciego C., Lopez-Estrada F., Anzurez-Marin . & Dominguez-Zenteno, J. Lateral Speed Control of an Autonomous Vehicle employing Linear Parameter Varying Techniques. Memorias del Congreso Nacional de Control Automático, pp. 337-343, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.031

Palabras clave

Control de Sistemas Lineales; Control Clásico; Robótica y Mecatrónica

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