Flatness-based longitudinal vehicle control with embedded torque constraint

This paper aims at establishing a simple yet efficient solution to the problem of trajectory tracking with input constraint of a non-linear longitudinal vehicle model. We make use of differential flatness by embedding the constraint into the reference trajectory design.

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Published in:IMA journal of mathematical control and information 2019-09, Vol.36 (3), p.729-744
Main Authors: Mounier, Hugues, Niculescu, Silviu-Iulian, Cela, Arben, Stefan Geamanu, Marcel
Format: Article
Language:English
Subjects:
Mathematics
Optimization and Control
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description This paper aims at establishing a simple yet efficient solution to the problem of trajectory tracking with input constraint of a non-linear longitudinal vehicle model. We make use of differential flatness by embedding the constraint into the reference trajectory design.
doi_str_mv 10.1093/imamci/dny005
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ispartof IMA journal of mathematical control and information, 2019-09, Vol.36 (3), p.729-744
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subjects Mathematics
Optimization and Control
title Flatness-based longitudinal vehicle control with embedded torque constraint
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