This paper mainly focuses on a lateral control law for pre-given path following which is developed by using the backstepping control design methodology. The position information of the vehicle is obtained by Real Time Kinematic DGPS, and the yaw rate and side-slip angle used in controller are estimated by Kalman estimator. To show the performance of the proposed controller under different speed and various path curvature conditions, the results are given through experiments which are executed on proving ground especially designed for high maneuvering test of which minimum radius of curvature is about 60 m.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Experimental Study on DGPS/RTK Based Path Following System Using Backstepping Control Methodology


    Additional title:

    Sae Technical Papers


    Contributors:
    Shin, Dongho (author) / Lee, Insik (author) / Ryu, Jaehoon (author) / Lee, Jaekwan (author) / Sim, Sungbo (author)

    Conference:

    Asia Pacific Automotive Engineering Conference ; 2007



    Publication date :

    2007-08-05




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Experimental Study on DGPS/RTK Based Path Following System Using Backstepping Control Methodology

    Shin, D. / Sim, S. / Ryu, J. et al. | British Library Conference Proceedings | 2007



    Vision Based Path-Following Control System Using Backstepping Control Methodology

    Shin, D. / Sim, S. / Ryu, J. et al. | British Library Conference Proceedings | 2008


    Vision Based Path-Following Control System Using Backstepping Control Methodology

    Shin, Dongho / Lee, Insik / Ryu, Jaehoon et al. | SAE Technical Papers | 2008


    Vision based path-following control system using backstepping control methodology

    Shin,D. / Sim,S. / Ryu,J. et al. | Automotive engineering | 2008