Design of position feedback controllers for vehicle lateral motion

Te-Sheng Hsiao*, Masayoshi Tomizuka

*此作品的通信作者

研究成果: Conference contribution同行評審

4 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of the 2006 American Control Conference
頁面5855-5860
頁數6
DOIs
出版狀態Published - 1 12月 2006
事件2006 American Control Conference - Minneapolis, MN, United States
持續時間: 14 6月 200616 6月 2006

出版系列

名字Proceedings of the American Control Conference
2006
ISSN(列印)0743-1619

Conference

Conference2006 American Control Conference
國家/地區United States
城市Minneapolis, MN
期間14/06/0616/06/06

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