کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7110363 | 1460673 | 2018 | 12 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
To optimally adjust the parameters of the Lyapunov controller, the closed loop system is reformulated in a linear parameter varying (LPV) form. Then, an optimization algorithm that solves the LQR-LMI problem is used to determine the controller parameters. Furthermore, the tuning process is complemented by adding a pole placement constraint that guarantees that the maximum achievable performance of the kinematic loop could be achieved by the dynamic loop. The obtained controller jointly with a trajectory generation module are in charge of the autonomous vehicle guidance. Finally, the paper illustrates the performance of the autonomous guidance system in a virtual reality environment (SYNTHIA) and in a real scenario achieving the proposed goal: to move autonomously from a starting point to a final point in a comfortable way.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 73, April 2018, Pages 1-12
Journal: Control Engineering Practice - Volume 73, April 2018, Pages 1-12
نویسندگان
Eugenio Alcala, Vicenç Puig, Joseba Quevedo, Teresa Escobet, Ramon Comasolivas,