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Article

Optimal H Control for Lateral Dynamics of Autonomous Vehicles

Dipartimento di Ingegneria Elettronica, Informatica e Sistemistica (DIMES), Universitá della Calabria, 87036 Rende, CS, Italy
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Author to whom correspondence should be addressed.
Academic Editor: Maria Jesús López Boada
Sensors 2021, 21(12), 4072; https://doi.org/10.3390/s21124072
Received: 10 May 2021 / Revised: 9 June 2021 / Accepted: 11 June 2021 / Published: 13 June 2021
(This article belongs to the Special Issue Sensors Fusion for Vehicle Detection and Control)
This paper presents the design and validation of a model-based H vehicle lateral controller for autonomous vehicles in a simulation environment. The controller was designed so that the position and orientation tracking errors are minimized and so that the vehicle is able to follow a trajectory computed in real-time by exploiting proper video-processing and lane-detection algorithms. From a computational point of view, the controller is obtained by solving a suitable LMI optimization problem and ensures that the closed-loop system is robust with respect to variations in the vehicle’s longitudinal speed. In order to show the effectiveness of the proposed control strategy, simulations have been undertaken by taking advantage of a co-simulation environment jointly developed in Matlab/Simulink © and Carsim 8 ©. The simulation activity shows that the proposed control approach allows for good control performance to be achieved. View Full-Text
Keywords: autonomous vehicles; automotive control; H control; lateral control; linear matrix inequalities; path tracking; steering angle control autonomous vehicles; automotive control; H control; lateral control; linear matrix inequalities; path tracking; steering angle control
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MDPI and ACS Style

Gagliardi, G.; Lupia, M.; Cario, G.; Casavola, A. Optimal H Control for Lateral Dynamics of Autonomous Vehicles. Sensors 2021, 21, 4072. https://doi.org/10.3390/s21124072

AMA Style

Gagliardi G, Lupia M, Cario G, Casavola A. Optimal H Control for Lateral Dynamics of Autonomous Vehicles. Sensors. 2021; 21(12):4072. https://doi.org/10.3390/s21124072

Chicago/Turabian Style

Gagliardi, Gianfranco, Marco Lupia, Gianni Cario, and Alessandro Casavola. 2021. "Optimal H Control for Lateral Dynamics of Autonomous Vehicles" Sensors 21, no. 12: 4072. https://doi.org/10.3390/s21124072

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