Backstepping control synthesis for automated low speed vehicle

被引：1

作者：

Chaibet, A ^{[1
]}

Nouvelière, L ^{[1
]}

Mammar, S ^{[1
]}

Netto, M ^{[1
]}

机构：

[1] Univ Evry Val DEssonne, LSC, CNRS, FRE 2494, F-91025 Evry, France

来源：

ACC: Proceedings of the 2005 American Control Conference, Vols 1-7 | 2005年

关键词：

lateral; longitudinal dynamics; backstepping; robustness; lyapunov;

D O I：

10.1109/ACC.2005.1469976

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes and evaluates a lateral control law for an automated vehicle. Based on a simple model of coupled longitudinal and lateral modes of a vehicle, we present a solution for the vehicle following by using the backstepping control technique. The performance and robustness of the control law are highlighted by the simulation of various maneuvers.

引用

页码：447 / 452

页数：6

共 10 条

[1]

[Anonymous], THESIS U VERSAILLES

[2]

CAMPOS J, 1999, BACKSTEPPING BASED F

[3]

Khalil HK., 1992, NONLINEAR SYSTEMS

[4]

KRSTIC M, 1995, NONLINEAR ADAPTATIVE

[5] Vehicle handling improvement by active steering [J].

Mammar, S ;

Koenig, D .

VEHICLE SYSTEM DYNAMICS, 2002, 38 (03) :211-242

[6]

MAMMAR S, 1999, ROUTE AUTOMATISEE AN

[7]

MANGEAS M, 2001, INT VEH S 4 2001 TOK

[8]

SAINTEMARIE J, 2004, J SYSTEM DYNAMICS CO, V126

[9]

Swaroop D., 1999, UCBITSPWP993 PATH

[10]

Zhang Youping, 2003, IEEE T AUTOMATIC CON, V48

← 1 →