Title :
Velocity controller design for automatic steering of vehicles
Author :
Zhang, J.R. ; Rachid, A. ; Xu, S.J.
Author_Institution :
Univ. Picardie, Amiens, France
Abstract :
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
Keywords :
Lyapunov methods; controllers; velocity control; Lyapunov approach; automatic steering of vehicles; equilibrium position; lateral vehicles; lateral velocity; longitudinal motion; longitudinal velocity; nonlinear transformation; simulation results; velocity controller design; yaw rate; Aerodynamics; Automatic control; Control systems; Equations; History; Intelligent vehicles; Vehicle dynamics; Velocity control;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945795
