Gain-Scheduled Robust Recursive Lateral Control for Autonomous Ground Vehicles Subject to Polytopic Uncertainties

Autor(es)

Bueno, Jose Nuno A. D. ; Rocha, Kaio D. T. ; Terra, Marco H. ; Goncalves, LMG ; Drews, PLJ ; DaSilva, BMF ; DosSantos, DH ; DeMelo, JCP ; Curvelo, CDF ; Fabro, JA

• Tipo de documento: Artigo Científico
• Fonte: 2020 XVIII LATIN AMERICAN ROBOTICS SYMPOSIUM, 2020 XII BRAZILIAN SYMPOSIUM ON ROBOTICS AND 2020 XI WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2020); v. N/A, p. 6-pg., 2020-01-01.

Resumo

This paper addresses the lateral control problem for autonomous ground vehicles. In order to better capture the behavior of lateral dynamics, the model is subject to polytopic uncertainties based on different road and load conditions. These uncertainties can potentially degrade the performance of the system and, as a consequence, endanger passengers, pedestrians and surrounding vehicles. It is crucial, then, that the controller handles these parametric deviations to preserve safety and stability. To this end, a robust recursive control algorithm computes a set of feedback gains that minimizes the trajectory tracking error state. Meanwhile, a gain-scheduling strategy interchanges among these recursive gains at each instant. A numerical simulation is also provided to illustrate the effectiveness of the proposed method. (AU)

• Processo FAPESP: 17/16346-4 - Controle tolerante a falhas de rede de comunicação para o movimento coordenado de robôs heterogêneos
• Beneficiário: Kaio Douglas Teófilo Rocha
• Modalidade de apoio: Bolsas no Brasil - Doutorado Direto
• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Modalidade de apoio: Auxílio à Pesquisa - Temático