Title: Robust stop-and-go control strategy: an algebraic approach for non-linear estimation and control

Authors: Jorge Villagra, Brigitte D'Andrea-Novel, Sungwoo Choi, Michel Fliess, Hugues Mounier

Addresses: Departamento de Ingenieria de Sistemas y Automatica, Universidad Carlos III, Leganes (Madrid), Spain. ' Centre de Robotique, Ecole des Mines de Paris, 75272 Paris Cedex 06, France. ' Centre de Robotique, Ecole des Mines de Paris, 75272 Paris Cedex 06, France. ' INRIA – ALIEN & LIX (CNRS, UMR 7161), Ecole polytechnique, 91128 Palaiseau, France. ' Institut d'Electronique Fondamentale (CNRS, UMR 8622), Universite Paris-Sud, 91405 Orsay, France

Abstract: This paper describes a robust stop-and-go control strategy for vehicles. Since sensors used in a real automotive context are generally low cost, measurements are quite noisy. Furthermore, many vehicle/road interaction factors (road slope, rolling resistance, aerodynamic forces) are very poorly known. Hence, a robust strategy to noise and parameters is proposed within the same theoretical framework: algebraic non-linear estimation and control techniques. On the one hand, noisy signals will be processed to obtain accurate derivatives, and thereafter, variable estimates. On the other hand, a grey-box closed-loop control will be implemented to reject all kinds of disturbances caused by exogenous parameter uncertainties.

Keywords: stop-and-go; robustness; nonlinear estimation; adaptive control; model-free control; PID controllers; robust control; vehicle control; vehicle dynamics; feedforward control; vehicle following.

DOI: 10.1504/IJVAS.2009.033264

International Journal of Vehicle Autonomous Systems, 2009 Vol.7 No.3/4, pp.270 - 291

Published online: 14 May 2010 *

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