NDLI: Nonlinear path control in automated vehicle guidance

Content Provider	IEEE Xplore Digital Library
Author	Freund, E. Mayr, R.
Copyright Year	1989
Abstract	The problem of path control of automatically guided vehicles along a desired trajectory is considered where both lateral and longitudinal dynamics have been incorporated in the vehicle model. It is shown that a nonlinear decoupling controller and pole-placement can be used to obtain a closed-loop behavior that is independent of the vehicle operation point. For the pole-placement, the entire state is necessary. Since the sideslip is not available from measurements, an observer is applied, estimating the sideslip. Due to the steady state errors imposed by the nonlinear controller, a predictive filter is used to calculate this steady state error. The effectiveness of this controller is then demonstrated by simulations.
Starting Page	49
Ending Page	60
Page Count	12
File Size	971333
File Format	PDF
ISSN	1042296X
Volume Number	13
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-02-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Automatic control Navigation Vehicle dynamics Remotely operated vehicles Traffic control Collision avoidance Vehicle safety Motion control Mobile robots Observers
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Nonlinear path control in automated vehicle guidance