This paper deals with the controller design problem for automatic steering of vehicles. Both the longitudinal and lateral motion of vehicles are considered. A nonlinear transformation is given and a velocity controller is derived based on Lyapunov approach, such that the longitudinal velocity, lateral velocity, and yaw rate converge asymptotically to a neighbourhood of the equilibrium position. Simulation results show the performance of the controller.


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    Title :

    Velocity controller design for automatic steering of vehicles


    Contributors:
    Zhang, J.R. (author) / Rachid, A. (author) / Xu, S.J. (author)

    Published in:

    Publication date :

    2001


    Size :

    2 Seiten, 8 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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