Stability analysis for controller switching in autonomous vehicles

Abstract : Benefits of autonomous vehicles are genuinely exciting, but the route to true autonomy in transportation will likely be long and full of uncertainty. Research on the last years is on the development of multi-sensor systems able to perceive the environment in which the vehicle is driving in. These systems increase complexity when controlling an autonomous vehicle, as different control systems are activated depending on the multi-sensor decision system. Each of these systems follows performance and stability criteria for its design, but they all must work together, providing stability guarantees and being able to handle dynamics, structural and environmental changes. This thesis explores the Youla-Kucera (YK) parameterization in dynamics systems such as vehicles, with special emphasis on stability when some dynamics change or the traffic situation demands controller reconfiguration. Focus is in obtaining simulation and experimental results related to Cooperative Adaptive Cruise Control (CACC), with the aim not only of using for the very first time YK parameterization in the Intelligent Transportation Systems (ITS) domain, but improving CACC state-of-the art. Stable controller reconfiguration results are given when non-available communication link with the preceding vehicle, cut-in/out maneuvers or surrounding vehicles with different dynamics, proving adapability, stability and possible real implementation of the YK parameterization as general control framework for autonomous vehicles.
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Francisco Navas Matos. Stability analysis for controller switching in autonomous vehicles. Robotics [cs.RO]. PSL Research University, 2018. English. ⟨NNT : 2018PSLEM050⟩. ⟨tel-02274422⟩

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