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American Control Conference (ACC)

Design of Model Free Control with tuning method on ultra-local model for lateral vehicle control purposes

Széchenyi Plusz RRF

Model Free Control (MFC) is a novel strategy to handle nonlinear and unknown dynamices in the control of vehicle systems. The method is based on an ultra-local model, which approximates the dynamical behavior of the system for a short time period. Although this algorithm has already been successfully applied to several control problems, there are some open questions, related to its implementation and tuning issues. This paper proposes a new control parameter tuning method on the ultra-local model for achieving improved trajectory tracking performances with MFC. A novel formulation of the MFC structure, i.e., an error-based ultra-local model, for tuning purposes is presented. Moreover, the control parameter tuning method based on data-driven tools for achieving optimal control parameter selection is proposed. The effectiveness of the proposed control strategy through a trajectory tracking problem using high-fidelity vehicle dynamics simulation software is illustrated.

Url
https://ieeexplore.ieee.org/document/9867837/authors#authors
Authors
Hegedűs, T.
Fényes, D.
Balázs Németh, PhD
Zoltán Szabó, DSc
Péter Gáspár, DSc
Areas of application

Autonomous Road Vehicles

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Institutes

Kapcsolat

Prof. Dr. Péter Gáspár

Hungary, H-1111 Budapest,
Kende u. 13-17.
+36 1 279 6000
autonom@nemzetilabor.hu

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