| Full text | |
| Author(s): |
Marcos, Lucas B.
;
Bueno, Jose Nuno A. D.
;
Rocha, Kaio D. T.
;
Terra, Marco H.
;
IEEE
Total Authors: 5
|
| Document type: | Journal article |
| Source: | 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC); v. N/A, p. 7-pg., 2022-01-01. |
| Abstract | |
The past few years have seen a massive improvement in self-driving vehicle technology. However, many challenges remain ahead. For example, the robust autonomous control of heavy-duty vehicles is still an issue. Furthermore, gear shifting in the driveline affects state estimation and autonomous control, as it abruptly changes powertrain dynamics. This paper proposes a robust recursive discrete-time Markov jump linear system technique for achieving autonomous driveline control. The algorithm is tested for a truck bodywork. Experiments show that the proposed recursive controller outperforms its LMI-based counterpart in terms of tracking error and can complete the test track in scenarios where the nominal LMI-based version cannot. (AU) | |
| FAPESP's process: | 21/08103-0 - Cooperative autonomous control of heterogeneous vehicle systems |
| Grantee: | Lucas Barbosa Marcos |
| Support Opportunities: | Scholarships in Brazil - Technical Training Program - Technical Training |
| FAPESP's process: | 17/16346-4 - Communication network fault tolerant control for coordinated movement of heterogeneous robots |
| Grantee: | Kaio Douglas Teófilo Rocha |
| Support Opportunities: | Scholarships in Brazil - Doctorate (Direct) |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |