Model-Free Control Design Procedure Applied to Lateral Vehicle Control

TL;DR

This paper introduces a systematic, non-iterative tuning procedure for Model-Free Control, successfully applied to lateral vehicle control to meet realistic performance standards.

Contribution

It adapts and extends a Three Term Controller tuning method specifically for Model-Free Control systems, providing a practical design procedure.

Findings

Effective lateral control of an automated car achieved

Systematic tuning procedure validated in realistic scenarios

Enhanced control performance without detailed system modeling

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.