Piecewise affine output feedback controller for vehicle lane keeping

Piecewise affine output feedback controller for vehicle lane keeping

This paper presents the design and simulation test of a piecewise affine output-feedback controller for vehicle lane keeping. The design of the proposed lane keeping system takes into account the entire domain of lateral tire forces through piecewise affine approximations of the tire forces nonlinea...

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Hauptverfasser: Benine-Neto, A., Mammar, S.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Automatic
Engineering Sciences
Linear approximation
Mathematical model
Tires
Vehicle dynamics
Vehicles
Wheels
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Mammar, S.
description This paper presents the design and simulation test of a piecewise affine output-feedback controller for vehicle lane keeping. The design of the proposed lane keeping system takes into account the entire domain of lateral tire forces through piecewise affine approximations of the tire forces nonlinear behavior. The computation of the control law is casted as Bilinear Matrix Inequalities optimization procedure which is solved using the V-K-method to find simultaneously a piecewise quadratic Lyapunov function and the piecewise affine regulator and estimator structures. Simulation tests show the controlled car is able to well achieve the standard ISO-3888-2 transient maneuver.
doi_str_mv 10.1109/ACC.2012.6314735
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subjects Automatic
Engineering Sciences
Linear approximation
Mathematical model
Tires
Vehicle dynamics
Vehicles
Wheels
title Piecewise affine output feedback controller for vehicle lane keeping
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