This thesis presents the application of H∞, μ and linear parametric varying controller synthesis for collision avoidance system using uncertain vehicle and environmental dynamics. The system will adapt to the changing road scenarios that will allow the vehicle to avoid obstacles and prevent roll over circumvention by properly applying brakes or making a safe lane change. Robust performance is achieved by using the dynamical characteristics of the collision avoidance system for varying speeds which is governed by physical laws in term of mathematical modeling and significant uncertainties. The uncertain block diagram was analyzed for corresponding state space representation and was utilized to develop the linear fractional transformation framework of the robust controller synthesis with proper uncertainty and performance. The numerical simulation results demonstrate the viability of the controller in term of stability and performance for uncertain vehicle dynamics and changing environment.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Lateral speed control for vehicles with uncertain dynamics


    Beteiligte:
    Vaidya, Naman (Autor:in)

    Medientyp :

    Sonstige


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Recent developments in lateral dynamics of high speed railway vehicles

    Wickens, A.H. | Engineering Index Backfile | 1967


    Lateral dynamics and control of rail vehicles

    Jeffcoat, Robert Lee | TIBKAT | 1975


    Lateral dynamics and control of rail vehicles.

    Jeffcoat, Robert Lee | DSpace@MIT | 1975

    Freier Zugriff

    Robustness to speed of 4WS vehicles for yaw and lateral dynamics

    Yaniv,O. / Univ.Tel Aviv,Dep.of Electrical Engng.Systems,IS | Kraftfahrwesen | 1997


    Robustness to Speed of 4WS Vehicles for Yaw and Lateral Dynamics

    YANIV, ODED | Taylor & Francis Verlag | 1997