Model-Free Control Design Procedure Applied to Lateral Vehicle Control

M. Moreno-Gonzalez; J. Villagra

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arXiv · 2304.09334

Model-Free Control Design Procedure Applied to Lateral Vehicle Control

M. Moreno-Gonzalez·J. Villagra

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Abstract

Model-Free Control has proven its performance in a wide variety of systems. Although its adequate tuning can be achieved using the knowledge of the system and optimization-based approaches, there is not yet a systematic design procedure for this kind of control scheme. In this paper, a non-iterative Three Term Controller tuning procedure is adapted and extended to fit Model-free controllers' structure. This procedure is successfully applied to design the lateral control of an automated car with realistic performance requirements.

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M. Moreno-Gonzalez, J. Villagra. 2023-04-18. Model-Free Control Design Procedure Applied to Lateral Vehicle Control. https://arxiv.org/abs/2304.09334

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