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Linear Time-Variant Vehicle Trajectory Guidance with Nonlinear Inversion-Based Feedforward Control

Schucker, Jeremias ; Konigorski, Ulrich (2019)
Linear Time-Variant Vehicle Trajectory Guidance with Nonlinear Inversion-Based Feedforward Control.
In: IFAC-Papers OnLine, 52 (5)
doi: 10.1016/j.ifacol.2019.09.061
Article, Bibliographie

Abstract

This work presents a two-degree-of-freedom (2DOF) control concept for vehicle trajectory guidance for automated driving on highways consisting of a nonlinear feedforward control and a linear time-variant feedback controller. To obtain a linear time-variant system of the error dynamics the nonlinear vehicle model is linearized along a given trajectory. To relieve the feedback controller future knowledge of the vehicle movement contained in the trajectory is used to create a nonlinear inversion-based feedforward control. Finally, the control concept is applied in a sophisticated simulation environment and compared to a nonlinear benchmark controller. In addition, model states are chosen in a way that all required signals can be obtained by state-of-the-art hardware of production vehicles.

Item Type: Article
Erschienen: 2019
Creators: Schucker, Jeremias ; Konigorski, Ulrich
Type of entry: Bibliographie
Title: Linear Time-Variant Vehicle Trajectory Guidance with Nonlinear Inversion-Based Feedforward Control
Language: English
Date: 23 June 2019
Publisher: Elsevier
Journal or Publication Title: IFAC-Papers OnLine
Volume of the journal: 52
Issue Number: 5
DOI: 10.1016/j.ifacol.2019.09.061
Abstract:

This work presents a two-degree-of-freedom (2DOF) control concept for vehicle trajectory guidance for automated driving on highways consisting of a nonlinear feedforward control and a linear time-variant feedback controller. To obtain a linear time-variant system of the error dynamics the nonlinear vehicle model is linearized along a given trajectory. To relieve the feedback controller future knowledge of the vehicle movement contained in the trajectory is used to create a nonlinear inversion-based feedforward control. Finally, the control concept is applied in a sophisticated simulation environment and compared to a nonlinear benchmark controller. In addition, model states are chosen in a way that all required signals can be obtained by state-of-the-art hardware of production vehicles.

Additional Information:

9th IFAC International Symposium on Advances in Automotive Control, Orléans, France, 23.-27.06.2019

Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Systems and Mechatronics
Date Deposited: 19 Aug 2019 08:20
Last Modified: 17 Aug 2023 10:08
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