 |
Conference papers
Piecewise Affine State Feedback Controller for Lane Departure Avoidance
Abstract : This paper presents the design and simulation tests of a lane keeping assistance system for passenger vehicles based on a piecewise affine state feedback controller. The design of the proposed lane keeping system takes into account the entire domain of lateral tire forces through piecewise affine approximations of the tire forces nonlinear behavior. The computation of the control law is casted as Bilinear Matrix Inequalities optimization procedure which is solved using the V-K-method to find a piecewise quadratic Lyapunov function and the state feedback gain. Simulations show the improved performance of the controller on degraded road adhesion conditions.
https://hal.archives-ouvertes.fr/hal-00654102
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, December 20, 2011 - 6:43:10 PM
Last modification on : Friday, July 17, 2020 - 5:09:02 PM
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, December 20, 2011 - 6:43:10 PM
Last modification on : Friday, July 17, 2020 - 5:09:02 PM
