Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach
This work addresses longitudinal control for autonomous vehicles, but it appears incremental as it builds on existing model-free methods with specific parameter adjustments.
The paper tackles the problem of unknown vehicle parameters in autonomous vehicle longitudinal control by developing a model-free approach with time-varying parameters to ensure finite-time stability, resulting in smaller overshoots, increased driving comfort, and improved robustness to time-delays.
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a suitable control law. An important parameter in this control setting is made time-varying for ensuring finite-time stability. Several convincing computer simulations are displayed and discussed. Overshoots become therefore smaller. The driving comfort is increased and the robustness to time-delays is improved.