Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning

© <year>. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/

Detalles Bibliográficos
Autores: Alcalá Baselga, Eugenio|||0000-0002-6023-0014, Puig Cayuela, Vicenç|||0000-0002-6364-6429, Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896, Escobet Canal, Teresa|||0000-0001-6090-1538, Comasòlivas Font, Ramon|||0000-0003-0255-2020
Tipo de recurso: artículo
Fecha de publicación:2018
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/118151
Acceso en línea:https://hdl.handle.net/2117/118151
https://dx.doi.org/10.1016/j.conengprac.2017.12.004
Access Level:acceso abierto
Palabra clave:Lyapunov control
Autonomous vehicle
LPV control
LMI
LQR
Classificació INSPEC::Control theory
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
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spelling Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuningAlcalá Baselga, Eugenio|||0000-0002-6023-0014Puig Cayuela, Vicenç|||0000-0002-6364-6429Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896Escobet Canal, Teresa|||0000-0001-6090-1538Comasòlivas Font, Ramon|||0000-0003-0255-2020Lyapunov controlAutonomous vehicleLPV controlLMILQRClassificació INSPEC::Control theoryÀrees temàtiques de la UPC::Informàtica::Automàtica i control© <year>. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/This paper presents the control of an autonomous vehicle using a Lyapunov-based technique with a LQR-LMI tuning. Using the kinematic model of the vehicle, a non-linear control strategy based on Lyapunov theory is proposed for solving the control problem of autonomous guidance. To optimally adjust the parameters of the Lyapunov controller, the closed loop system is reformulated in a linear parameter varying (LPV) form. Then, an optimization algorithm that solves the LQR-LMI problem is used to determine the controller parameters. Furthermore, the tuning process is complemented by adding a pole placement constraint that guarantees that the maximum achievable performance of the kinematic loop could be achieved by the dynamic loop. The obtained controller jointly with a trajectory generation module are in charge of the autonomous vehicle guidance. Finally, the paper illustrates the performance of the autonomous guidance system in a virtual reality environment (SYNTHIA) and in a real scenario achieving the proposed goal: to move autonomously from a starting point to a final point in a comfortable way.Peer Reviewed20182018-04-0120182018-06-18journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/118151https://dx.doi.org/10.1016/j.conengprac.2017.12.004reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1181512026-05-27T15:37:01Z
dc.title.none.fl_str_mv Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
title Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
spellingShingle Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
Alcalá Baselga, Eugenio|||0000-0002-6023-0014
Lyapunov control
Autonomous vehicle
LPV control
LMI
LQR
Classificació INSPEC::Control theory
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
title_short Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
title_full Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
title_fullStr Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
title_full_unstemmed Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
title_sort Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning
dc.creator.none.fl_str_mv Alcalá Baselga, Eugenio|||0000-0002-6023-0014
Puig Cayuela, Vicenç|||0000-0002-6364-6429
Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896
Escobet Canal, Teresa|||0000-0001-6090-1538
Comasòlivas Font, Ramon|||0000-0003-0255-2020
author Alcalá Baselga, Eugenio|||0000-0002-6023-0014
author_facet Alcalá Baselga, Eugenio|||0000-0002-6023-0014
Puig Cayuela, Vicenç|||0000-0002-6364-6429
Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896
Escobet Canal, Teresa|||0000-0001-6090-1538
Comasòlivas Font, Ramon|||0000-0003-0255-2020
author_role author
author2 Puig Cayuela, Vicenç|||0000-0002-6364-6429
Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896
Escobet Canal, Teresa|||0000-0001-6090-1538
Comasòlivas Font, Ramon|||0000-0003-0255-2020
author2_role author
author
author
author
dc.subject.none.fl_str_mv Lyapunov control
Autonomous vehicle
LPV control
LMI
LQR
Classificació INSPEC::Control theory
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic Lyapunov control
Autonomous vehicle
LPV control
LMI
LQR
Classificació INSPEC::Control theory
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
description © <year>. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/
publishDate 2018
dc.date.none.fl_str_mv 2018
2018-04-01
2018
2018-06-18
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/118151
https://dx.doi.org/10.1016/j.conengprac.2017.12.004
url https://hdl.handle.net/2117/118151
https://dx.doi.org/10.1016/j.conengprac.2017.12.004
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.301603

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