Model-Free Control Design Procedure Applied to Lateral Vehicle Control

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.
Comment: submitted to IFAC World Congress 2023