Skip to Main content Skip to Navigation
Journal articles

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

Abstract : 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.
Document type :
Journal articles
Complete list of metadata

https://hal-uphf.archives-ouvertes.fr/hal-03426249
Contributor : Kathleen Torck Connect in order to contact the contributor
Submitted on : Friday, November 12, 2021 - 10:15:38 AM
Last modification on : Saturday, November 13, 2021 - 3:53:18 AM

Identifiers

Collections

Citation

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, Taiwan Fuzzy Systems Association, 2021, 23 (5), pp.1370-1378. ⟨10.1007/s40815-020-01042-1⟩. ⟨hal-03426249⟩

Share

Metrics

Record views

9