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Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach (1704.01383v1)
Published 5 Apr 2017 in cs.SY, cs.AI, and math.OC
Abstract: This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a suitable control law. An important parameter in this control setting is made time-varying for ensuring finite-time stability. Several convincing computer simulations are displayed and discussed. Overshoots become therefore smaller. The driving comfort is increased and the robustness to time-delays is improved.