Slip-Angle Feedback Control for Autonomous Safety-Critical Maneuvers At-the-Limit of Friction
(2018) 14th International Symposium on Advanced Vehicle Control (AVEC)- Abstract
- From the basis of optimal control, a closed-loop controller for autonomous vehicle maneuvers at-the-limit of friction is developed.The controller exploits that the optimal solution tends to be close to the friction limit of the tires.This observation allows for simplifications that enable the use of a proportional feedback control in the control loop,which provides a smooth trajectory promising for realization in an actual control system.The controller is in comparison with an open-loop numerical optimal control solution shown to exhibit promising performance at low computational cost in a challenging turn scenario.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/ffd54146-b482-4129-9126-f79669176912
- author
- Fors, Victor ; Olofsson, Björn LU and Nielsen, Lars
- publishing date
- 2018
- type
- Contribution to conference
- publication status
- published
- subject
- conference name
- 14th International Symposium on Advanced Vehicle Control (AVEC)
- conference location
- Beijing, China
- conference dates
- 2018-07-16 - 2018-07-20
- project
- ELLIIT LU P11: Online Optimization and Control towards Autonomous Vehicle Maneuvering
- language
- English
- LU publication?
- no
- id
- ffd54146-b482-4129-9126-f79669176912
- alternative location
- http://urn.kb.se/resolve?urn=urn%3Anbn%3Ase%3Aliu%3Adiva-149899
- date added to LUP
- 2023-01-28 20:54:16
- date last changed
- 2023-01-30 10:05:37
@misc{ffd54146-b482-4129-9126-f79669176912, abstract = {{From the basis of optimal control, a closed-loop controller for autonomous vehicle maneuvers at-the-limit of friction is developed.The controller exploits that the optimal solution tends to be close to the friction limit of the tires.This observation allows for simplifications that enable the use of a proportional feedback control in the control loop,which provides a smooth trajectory promising for realization in an actual control system.The controller is in comparison with an open-loop numerical optimal control solution shown to exhibit promising performance at low computational cost in a challenging turn scenario.}}, author = {{Fors, Victor and Olofsson, Björn and Nielsen, Lars}}, language = {{eng}}, title = {{Slip-Angle Feedback Control for Autonomous Safety-Critical Maneuvers At-the-Limit of Friction}}, url = {{http://urn.kb.se/resolve?urn=urn%3Anbn%3Ase%3Aliu%3Adiva-149899}}, year = {{2018}}, }