An optimal control methodology for braking in a corner with stability

d’Andréa-Novel, Brigitte; Chou, H.; Coron, Jean‐Michel; Ellouze, M.; Fenaux, E.; Pengov, Marco; Zarka, F.

doi:10.23919/ecc.2001.7076497

Cited by 6 publications

(1 citation statement)

References 7 publications

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“…In [3] and [21], the authors propose different versions of the extended Kalman filter. A H ∞ filter is suggested in [16]; [15] proposes a neural network approach and [6] a recursive least squares method; [23] uses sliding modes techniques; [2] implements a high gain observer; [4], [5], [10], [11], [12], [13], [24], [25] exploit a Lyapunov function in order to synthesize asymptotic nonlinear observers of tire forces or vehicle velocities. Those approaches are only valid under very favorable conditions, such as small steering angles or slowly variable velocities.…”

Section: Based Estimation Methods Have Been Developed In Recent Yearsmentioning

confidence: 99%

Estimation of longitudinal and lateral vehicle velocities: An algebraic approach

Villagrá

d’Andréa-Novel

Fliess

et al. 2008

2008 American Control Conference

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Abstract-This paper presents a new approach for estimating vehicle velocities at its gravity center. The proposed strategy relies on recent algebraic techniques for numerical differentiation and diagnosis. We do not use any tire model in order to obtain an estimation, which is robust with respect to model uncertainties (friction, . . . ). All available measurements in a mass-production car are however exploited.

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Section: Based Estimation Methods Have Been Developed In Recent Yearsmentioning

confidence: 99%

Estimation of longitudinal and lateral vehicle velocities: An algebraic approach

Villagrá

d’Andréa-Novel

Fliess

et al. 2008

2008 American Control Conference

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High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks

Thuilot²,

et al. 2006

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When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudosliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground.It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to R. Lenain ( ) · C. Cariou Cemagref, 24 av. des Landais BP50085, 63172 Aubière Cedex,

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Vehicle lateral motion control using lateral acceleration feedback

Cherouat

2006

2006 American Control Conference

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An optimal control methodology for braking in a corner with stability

Cited by 6 publications

References 7 publications

Estimation of longitudinal and lateral vehicle velocities: An algebraic approach

Estimation of longitudinal and lateral vehicle velocities: An algebraic approach

High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks

Vehicle lateral motion control using lateral acceleration feedback

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