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Sensors 2018, 18(7), 2204; https://doi.org/10.3390/s18072204

Reset Controller Design Based on Error Minimization for a Lane Change Maneuver

Department of Systems Engineering and Automation, School of Industrial Engineering, University of Vigo, 36310 Vigo, Spain
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Received: 18 May 2018 / Revised: 2 July 2018 / Accepted: 3 July 2018 / Published: 9 July 2018
(This article belongs to the Section Intelligent Sensors)

Abstract

An intelligent vehicle must face a wide variety of situations ranging from safe and comfortable to more aggressive ones. Smooth maneuvers are adequately addressed by means of linear control, whereas more aggressive maneuvers are tackled by nonlinear techniques. Likewise, there exist intermediate scenarios where the required responses are smooth but constrained in some way (rise time, settling time, overshoot). Due to the existence of the fundamental linear limitations, which impose restrictions on the attainable time-domain and frequency-domain performance, linear systems cannot provide smoothness while operating in compliance with the previous restrictions. For this reason, this article aims to explore the effects of reset control on the alleviation of these limitations for a lane change maneuver under a set of demanding design conditions to guarantee a suitable ride quality and a swift response. To this end, several reset strategies are considered, determining the best reset condition to apply as well as the magnitude thereto. Concerning the reset condition that triggers the reset action, three strategies are considered: zero crossing of the controller input, fixed reset band and variable reset band. As far as the magnitude of the reset action is concerned, a full-reset technique is compared to a Lyapunov-based error minimization method to calculate the optimal reset percentage. The base linear controller subject to the reset action is searched via genetic algorithms. The proposed controllers are validated by means of CarSim. View Full-Text
Keywords: reset control; lane change maneuver; CarSim; ISE minimization reset control; lane change maneuver; CarSim; ISE minimization
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Cerdeira, M.; Falcón, P.; Delgado, E.; Barreiro, A. Reset Controller Design Based on Error Minimization for a Lane Change Maneuver. Sensors 2018, 18, 2204.

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