In this paper a robust controller design task for longitudinal and lateral dynamic of non-identical autonomous road vehicles is considered. In order to use identical controllers for different vehicles the varying parameters are regarded as unstructured model uncertainties. How unstructured model uncertainties are described and how they are taken into account during the controller design process is shortly presented.The used control concept for plants with model uncertainties in form of a standard H∞ - control task is described. The resulting longitudinal and lateral control laws for non-identical vehicles are discussed concerning the varying vehicle parameters. The first practical results with respectively one control law for longitudinal and lateral dynamic of non-identical autonomous vehicles are presented. It is shown that through the appropriate choice of design parameters, varying vehicle dynamics can be taken into account without substantial losses regarding accuracy and dynamics.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Control Concept for Plants with Model Uncertainties


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Schnieder, Eckehard (Autor:in) / Helbig, Jörg (Autor:in) / Ganzelmeier, Lothar (Autor:in) / Becker, Uwe (Autor:in)

    Kongress:

    SAE 2002 World Congress & Exhibition ; 2002



    Erscheinungsdatum :

    04.03.2002




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Control concept for plants with model uncertainties

    Becker,U. / Ganzelmeier,L. / Helbig,J. et al. | Kraftfahrwesen | 2002


    Control Concept for Plants with Model Uncertainties

    Becker, U. / Ganzelmeier, L. / Helbig, J. et al. | British Library Conference Proceedings | 2002


    Robust Repetitive Control for Plants with Structural Uncertainties

    She, J.-H. / Nakano, M. | British Library Online Contents | 1998


    FIXED-WING UAVS CONTROL WITH MODEL UNCERTAINTIES

    Kartal, M. / Ignatyev, D. / Zolotas, A. | British Library Conference Proceedings | 2022