This work proposes a solution for the longitudinal and lateral control problem of urban autonomous vehicles using a gain scheduling Takagi-Sugeno (TS) control approach. Using the kinematic and dynamic vehicle models, a TS representation is adopted and a cascade control methodology is proposed for controlling both vehicle behaviours. In particular, for the control design, the use of both models separately will lead to solve two TS LMI-LQR problems. Furthermore, to achieve the desired levels of performance, an approach based on cascade design of the the kinematic and dynamic controllers has been proposed. This cascade control scheme is based on the idea that the dynamic closed loop behaviour is designed to be faster than the kinematic closed loop one. The obtained gain scheduling TS control approach, jointly with a trajectory generation module, has presented suitable results in a simulated city driving scenario.


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    Title :

    Takagi-Sugeno Fault Tolerant Control of an Autonomous Vehicle



    Publication date :

    2018-04-27


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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