A new combined lateral/longitudinal controller, within the robust lateral decoupling concept [2], is designed and analyzed for an autonomous vehicle. The controller operates under parametric uncertainties and unknown time varying disturbances, such as wind gust etc., thereby it only uses measurements of the velocity, the longitudinal acceleration and the yaw rate of the vehicle.
Robust lateral decoupling and longitudinal vss control design for autonomous vehicles
1997 European Control Conference (ECC) ; 569-574
1997-07-01
274011 byte
Conference paper
Electronic Resource
English
LONGITUDINAL AND LATERAL CONTROL FOR AUTONOMOUS GROUND VEHICLES
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