Adaptive Robust Vehicle Motion Control for Future Over-Actuated Vehicles
Moad Kissai,
Bruno Monsuez,
Xavier Mouton,
Didier Martinez,
Adriana Tapus
Affiliations
Moad Kissai
Autonomous Systems and Robotics Lab, Computer Science and System Engineering Department (U2IS), École Nationale Supérieure de Techniques Avancées (ENSTA ParisTech), Institut Polytechnique de Paris (IP Paris), 828 Boulevard des Maréchaux, 91120 Palaiseau, France
Bruno Monsuez
Autonomous Systems and Robotics Lab, Computer Science and System Engineering Department (U2IS), École Nationale Supérieure de Techniques Avancées (ENSTA ParisTech), Institut Polytechnique de Paris (IP Paris), 828 Boulevard des Maréchaux, 91120 Palaiseau, France
Xavier Mouton
Chassis Systems Department, Groupe Renault, 1 Avenue du Golf, 78280 Guyancourt, France
Didier Martinez
Chassis Systems Department, Groupe Renault, 1 Avenue du Golf, 78280 Guyancourt, France
Adriana Tapus
Autonomous Systems and Robotics Lab, Computer Science and System Engineering Department (U2IS), École Nationale Supérieure de Techniques Avancées (ENSTA ParisTech), Institut Polytechnique de Paris (IP Paris), 828 Boulevard des Maréchaux, 91120 Palaiseau, France
Many challenges still need to be overcome in the context of autonomous vehicles. These vehicles would be over-actuated and are expected to perform coupled maneuvers. In this paper, we first discuss the development of a global coupled vehicle model, and then we outline the control strategy that we believe should be applied in the context of over-actuated vehicles. A gain-scheduled H ∞ controller and an optimization-based Control Allocation algorithms are proposed. High-fidelity co-simulation results show the efficiency of the proposed control logic and the new possibilities that could offer. We expect that both car manufacturers and equipment suppliers would join forces to develop and standardize the proposed control architecture for future passenger cars.
