NDLI: Design of position feedback controllers for vehicle lateral motion

Content Provider	IEEE Xplore Digital Library
Author	Tesheng Hsiao Tomizuka, M.
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu (Tesheng Hsiao)
Abstract	The vehicle lateral control system performs lane keeping and lane changing tasks on the automated highways. It is of critical importance for the lateral controller to be robust with respect to model uncertainties and various road conditions under the constraints of limited actuator power. In this paper we proposed a controller design method which consists of two steps: (i) designing a state-feedback controller of an "augmented plant" by assuming all state variables are available and (ii) converting it to an output-feedback controller. The state-feedback controller in step (i) is designed to achieve all the control objectives under the assumption that state feedback is feasible. The conversion to an output-feedback controller in the second step preserves the closed-loop characteristics; hence both state-feedback and output-feedback controllers have the same performance and robustness. Experiments on a passenger car show that small tracking errors and smooth steering command can be achieved by the proposed controller
Sponsorship	American Automatic Control Council IFAC
File Size	309803
File Format	PDF
ISBN	1424402093
e-ISBN	1424402107
DOI	10.1109/ACC.2006.1657659
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Adaptive control Automatic control Robust control Road vehicles Control systems Automated highways Power system modeling Uncertainty Actuators Design methodology
Content Type	Text
Resource Type	Article

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