TY - GEN
T1 - Exponentially stabilizing output tracking of fully autonomous passenger cars with an observer
AU - Kumarawadu, Sisil
AU - Perng, Jau Woei
AU - Lee, Tsu Tian
PY - 2006
Y1 - 2006
N2 - This paper, inspired by resolved acceleration control techniques popular in robotics, presents an automated vehicle control algorithm for combined longitudinal and lateral motion control of highway vehicles with special emphasis on passenger cars. Key design features are: 1) inherent coupling effects will be taken into account as a result of combining of two control issues, viz., lateral and longitudinal control 2) rather ad hoc numerical approximations of lateral velocity will be avoided via a combined controller-observer design 3) closed-loop exponential stability issues of the overall system will be established. The algorithm is validated via formative mathematical analyzes and numerical simulations.
AB - This paper, inspired by resolved acceleration control techniques popular in robotics, presents an automated vehicle control algorithm for combined longitudinal and lateral motion control of highway vehicles with special emphasis on passenger cars. Key design features are: 1) inherent coupling effects will be taken into account as a result of combining of two control issues, viz., lateral and longitudinal control 2) rather ad hoc numerical approximations of lateral velocity will be avoided via a combined controller-observer design 3) closed-loop exponential stability issues of the overall system will be established. The algorithm is validated via formative mathematical analyzes and numerical simulations.
UR - http://www.scopus.com/inward/record.url?scp=34250210814&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:34250210814
SN - 1424400651
SN - 9781424400652
T3 - Proceedings of the 2006 IEEE International Conference on Networking, Sensing and Control, ICNSC'06
SP - 562
EP - 567
BT - Proceedings of the 2006 IEEE International Conference on Networking, Sensing and Control, ICNSC'06
T2 - 2006 IEEE International Conference on Networking, Sensing and Control, ICNSC'06
Y2 - 23 April 2006 through 25 April 2006
ER -