Control of Markovian jump linear systems applied to autonomous vehicles

• Grant number: 15/05228-5
• Support Opportunities: Scholarships in Brazil - Master
• Start date: June 01, 2015
• End date: November 30, 2016
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Agreement: Coordination of Improvement of Higher Education Personnel (CAPES)
• Principal Investigator: Marco Henrique Terra
• Grantee: Lucas Barbosa Marcos
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

In nowadays society, automobile vehicles are getting more and more integrated to people's dayly activities, as there are more than 1 billion of them on the streets around the world. As they are controlled by drivers, the vehicles are subjected to failures caused by human mistakes that lead into accidents, injuries and others. Autonomous vehicle control has shown itself to be an alternative in the pursue of damage reduction, ant it is applied by different institutions in many countries. Therefore, it is a main subject in the area of control systems. This paper, taking advantage of mathematical description of vehicle behavior, aims to develop and apply an efficient autonomous control method that take into account state-space formulation. This goal will be achieved by the use of control strategies based on markovian jump linear system that will describe the highly non-linear dynamic on the vehicle in its different operation points. This paper is linked to the e-Science project number 2014/08432-0 called "Attitude and heading Reference System based on recursive robust Kalman filter implemented in FPGA". The author requests an 18-month scholarship. (AU)

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

MARCOS, Lucas Barbosa. Markovian jump linear systems control applied to autonomous vehicles. 2017. Master's Dissertation - Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) São Carlos.