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Article Dans Une Revue International Journal of Fuzzy Systems Année : 2021

A novel parameter-dependent polynomial approach for robust automated lane keeping

Marcelino Sanchez Pantoja
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Jorge Alvarez
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Miguel Bernal
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Résumé

This paper is concerned with a novel control technique for automated lane keeping of a vehicle, which takes advantage of an exact fuzzy modelling of bounded parametric uncertainties—both constant and varying—for a convex treatment of local characteristic polynomials, put together via parameter-dependent Lyapunov analysis. It is shown that the specificity of the proposed technique enlarges the feasibility chances of synthesizing a robust steering control law in contrast with only-Lyapunov-based designs. The proposal is put at test in simulation for the perturbed bicycle model.
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Dates et versions

hal-03426249 , version 1 (12-11-2021)

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Marcelino Sanchez Pantoja, Jorge Alvarez, Sebastien Delprat, Miguel Bernal. A novel parameter-dependent polynomial approach for robust automated lane keeping. International Journal of Fuzzy Systems, 2021, 23 (5), pp.1370-1378. ⟨10.1007/s40815-020-01042-1⟩. ⟨hal-03426249⟩
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