A new method to stabilize a vehicle, which is autonomously guided on the road by anoptical sensor, is presented. Since the behavior of a vehicle is nonlinear and contains mutual couplings in the dynamical variables, the design especially of algorithms for traverse control is based on the universal valid principle of feedback linearization. This method works independently from any operating point and, thus, a high degree of accuracy and free pole assignment for the overall system is provided. The design of the control system is based on absolute angular velocities. A strategy transforming these variables into a relative by an adequate transformation is described. Thus, the control error of the angle describing the direction of movement is forced to disappear. As all essential nonlinearities in the dynamics of the vehicle body, the wheels and the tyres are compensated, a linear behavior with free pole assignment can be imposed on the overall system. Disturbances are handled by an integral term in the control algorithm. Therefore stability and convergence can be guaranteed even in case of constant disturbances.
A strategy for road tracking in automated vehicle guidance
Eine Wegsteuerungsstrategie für die Lenkung automatischer Fahrzeuge
World Congress of IFAC, 13 ; 453-458
1996
6 Seiten, 6 Bilder, 5 Quellen
Conference paper
English
A strategy for road tracking in automated vehicle guidance
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