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The lateral dynamics of the vehicle is strongly impacted by the longitudinal speed bringing problems to trajectory tracking. In this paper, several control structures based on PID are compared for the lateral guidance of autonomous vehicle. It includes a classic PID, a (...)
An elegant way to exploit control redundancies available in multilevel converters is through the formulation of a constrained optimization problem. An interesting connection can be made with the so-called control allocation problems defined in over-actuated constrained (...)
In cloud computing management, the dynamic adaptation of computing resource allocations under timevarying workload is an active domain of investigation. Several control strategies were already proposed. Here the modelfree control setting and the corresponding “intelligent” (...)
In a context of Connected Autonomous Vehicle (CAV), this paper proposes a generic hierarchical architecture for Global Chassis Control (GCC). The four levels of this architecture, namely : the Supervisor, the Global Control, the Allocation and the Local Control, are (...)
Path planning is an essential stage for mobile robot control. It is more newsworthy than ever in the automotive context and especially for autonomous vehicle. Also, path planning methods need to be adaptive regarding life situations, traffic and obstacle crossing. In this (...)
In the last few years much effort has been made towards more autonomous vehicles and fuel consumption reduction. This article deals with the issue trajectory optimization of unmanned terrestrial vehicles so as to reduce consumption, travel time or to improve comfort. Main (...)
In today’s literature Model-Free Control, or MFC, and Active Disturbance Rejection Control, or ADRC, are the most prominent approaches in order to keep the benefits of PID controllers, that are so popular in the industrial world, and in the same time for attenuating their (...)
