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Attelage virtuel pour véhicules automatisés

Abstract : This document is devoted to the study of vehicle platooning in "normal" driving conditions and roads (without emergency situations, on dry road, etc.). After a review of the different existing aided or automated driving systems, a model of the longitudinal and/or lateral dynamics of the vehicle is given. It corresponds to a "bicycle" model with a description of the tyre and road contact limited to small sliding conditions. Among the nonlinear control technics, the chosen one is based on the Takagi-Sugeno's (TS) models. They correspond to a collection of linear models blended together with scalar positive nonlinear functions satisfying a convex sum property.
The way to cope with stability and stabilization of such models is based on Lyapunov's direct method. To take into account some robustness and/or performances, this thesis focus on uncertain models and on closed loop poles placement of the linear models of the TS nonlinear model in specified convex regions of the complex plane. New conditions are given in a Linear Matrix Inequality form.
They are then applied to vehicle spacing policy and to achieve a virtual link between two vehicles, considering both longitudinal and lateral aspects. Simulation and real time results are presented for a prototype especially equipped for these experiments.
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Contributor : Pierre-Frédéric Toulotte <>
Submitted on : Tuesday, February 13, 2007 - 2:08:30 PM
Last modification on : Friday, November 13, 2020 - 8:44:11 AM
Long-term archiving on: : Tuesday, September 21, 2010 - 12:08:19 PM


  • HAL Id : tel-00112889, version 2


Pierre-Frédéric Toulotte. Attelage virtuel pour véhicules automatisés. Automatique / Robotique. Université de Valenciennes et du Hainaut-Cambresis, 2006. Français. ⟨tel-00112889v2⟩



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