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Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach

Abstract · Apr 5, 2017 12:35 ·

cs-sy cs-ai math-oc

Arxiv Abstract

  • Philip Polack
  • Brigitte d'Andréa-Novel
  • Michel Fliess
  • Arnaud de la Fortelle
  • Lghani Menhour

This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a suitable control law. An important parameter in this control setting is made time-varying for ensuring finite-time stability. Several convincing computer simulations are displayed and discussed. Overshoots become therefore smaller. The driving comfort is increased and the robustness to time-delays is improved.

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