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.
Velocity controller design for automatic steering of vehicles
American Control Conference, 2001 ; 696-697
2001
2 Seiten, 8 Quellen
Conference paper
English
Robust Controller Design for Automatic Steering of Vehicles
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