Robust Control and Observer Design for Advanced Driver Assistance Systems

• Grant number: 25/18245-7
• Support Opportunities: Scholarships abroad - Research Internship - Post-doctor
• Start date: February 01, 2026
• End date: January 31, 2027
• Field of knowledge: Engineering - Electrical Engineering
• Principal Investigator: Bruno Augusto Angélico
• Grantee: Amanda Spagolla
• Supervisor: Anh-Tu Nguyen
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil
• Institution abroad: Université Polythecnique Hauts De France, France
• Associated to the scholarship: 24/00359-3 - Control of Safety Critical Systems, BP.PD

Abstract

This project proposes methodologies to design robust controllers and observers for advanced driver assistance systems, taking into account the modeling uncertainties. Furthermore, the H-infinity, H2 and L1 norms can be used to evaluate the closed-loop control performance. The methodology relies on Lyapunov's theory, based on polynomial-dependent Lyapunov functions, to formulate the problems as linear matrix inequalities conditions and also can be used through Control Lyapunov Functions. Extensions to deal with saturation in the control signal, time-varying parameters and gainscheduling will be considered. This research proposal for international collaboration focuses not only on theoretical developments in robust control and observation but also on validating these findings through world-class experimental vehicle platforms.