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Piecewise affine output feedback controller for vehicle lane keeping

Abstract : This paper presents the design and simulation test of a piecewise affine output-feedback controller for vehicle lane keeping. 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 simultaneously a piecewise quadratic Lyapunov function and the piecewise affine regulator and estimator structures. Simulation tests show the controlled car is able to well achieve the standard ISO-3888-2 transient maneuver.
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Submitted on : Monday, July 5, 2021 - 4:58:11 PM
Last modification on : Saturday, June 25, 2022 - 9:15:40 PM
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Andre Benine-Neto, Saïd Mammar. Piecewise affine output feedback controller for vehicle lane keeping. American Control Conference (ACC 2012), Jun 2012, Montreal, Canada. pp.6533-6538, ⟨10.1109/ACC.2012.6314735⟩. ⟨hal-00866996⟩



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