Brake and velocity model-free control on an actual vehicle

被引：25
作者：
Polack, Philip [1 ]
Delprat, Sebastien [2 ]
D'Andrea-Novel, Brigitte [1 ,3 ]
机构：
[1] PSL Res Univ, Ctr Robot, MINES ParisTech, 60 Blvd St Michel, F-75006 Paris, France
[2] Univ Valenciennes, LAMIH, UMR 8201, CNRS,ENSIAME Ecole Natl Super Ingenieurs Informat, F-59313 Valenciennes, France
[3] Sorbonne Univ, IRCAM, CNRS UMR9912, STMS, 1 Pl Igor Stravinsky, F-75004 Paris, France
来源：
CONTROL ENGINEERING PRACTICE | 2019年 / 92卷
关键词：
Model-free control; Intelligent controllers; Longitudinal control; Tuning procedure; ALIEN filters; DESIGN;
D O I：
10.1016/j.conengprac.2019.06.011
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A tuning procedure for the model-free control paradigm introduced in Fliess and Join (2013) is proposed. This controller requires an estimate of the system dynamics usually obtained using an ALIEN filter, presented in Fliess and Sim-Ramirez (2003). Several implementation issues of this ALIEN filter, such as the order of the numerical quadrature, are discussed and overcome. Finally, the control law is applied to two systems: the low-level braking system of a vehicle and its longitudinal speed control. Experimental results on a real vehicle are provided and compared with a classic PI controller.
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页数：8
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