NDLI: Automatic vehicle steering controls: DGPS/INS and magnetic markers

Content Provider	IEEE Xplore Digital Library
Author	Han-Shue Tan Bougler, B. Farrell, J.A. Yunchun Yang
Copyright Year	2003
Description	Author affiliation: Univ. of California, Richmond, CA, USA (Han-Shue Tan; Bougler, B.)
Abstract	This paper describes the process of designing a simple high-gain automatic steering controller for a passenger vehicle based on the control states obtained from the integrated carrier phase (CP) Differential Global Positioning System (DGPS) aided inertial navigation system (INS) system. Applying the "look-ahead" principle developed for the magnetic marker based steering control system, the process results in very similar control laws for both sensing systems. The dynamic differences between feeding back the yaw angle (using two magnet sensors, or two GPS antennae) and feeding back heading angle (using one magnet sensor or one GPS antenna) are investigated in this paper. Results from the closed-loop steering control experiments for speeds up to 65 mph using the two-magnet-sensors and one-GPS-antenna configuration support the system analysis.
Sponsorship	American Automatic Control Council IFAC
Starting Page	60
Ending Page	65
File Size	517928
Page Count	6
File Format	PDF
ISBN	0780378962
ISSN	07431619
DOI	10.1109/ACC.2003.1238914
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-06-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Automatic control Global Positioning System Control systems Magnetic sensors Antenna feeds Process design Inertial navigation Process control Vehicle dynamics Magnetic analysis
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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