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- W4292072243 abstract "This paper considers a path tracking control problem for an autonomous vehicle under the constraint to maintain a safe distance from the vehicle preceding in the same lane. The control design problem is solved on the basis of a mathematical model that jointly describes the lateral and longitudinal dynamics. Specifically, an <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$H_{infty}$</tex> optimal controller is designed aimed at minimizing the orientation and position tracking errors with respect to a given reference path. Moreover, the controller is able to ensure that the vehicle can both follow a speed profile and automatically adjusts the vehicle speed to maintain a proper distance from the preceding vehicle. The lateral dynamics is regulated by a 2-DOF feed-forward/feed-back controller, where the feedforward part is implemented by exploiting an inverse kinematic model. On the other side, the feedback action, along with the action of the controller in charge to regulate the longitudinal dynamics, are gain-scheduling controllers synthesized through the linear parameter varying <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$H_{infty}$</tex> control design theory. In particular, a parameter-depending quadratic Lyapunov function is used to reduce the conservativeness of the solution and a suitable convex LMI optimization problem is formulated for the synthesis. The vehicle is modeled as a full car model with seven degrees of freedom with the tires described by the classical Pacejka's Magic Formula. In order to show the performance of the proposed control strategy, simulations have been performed by considering an autonomous vehicle driving into an urban scenario and by taking advantage of the co-simulation environment developed in Matlab/Simulink." @default.
- W4292072243 created "2022-08-17" @default.
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- W4292072243 date "2022-07-12" @default.
- W4292072243 modified "2023-09-27" @default.
- W4292072243 title "Linear Parameter Varying Control Strategies for Combined Longitudinal and Lateral Dynamics of Autonomous Vehicles" @default.
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- W4292072243 doi "https://doi.org/10.23919/ecc55457.2022.9838177" @default.
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