DocumentCode
1751375
Title
Velocity controller design for automatic steering of vehicles
Author
Zhang, J.R. ; Rachid, A. ; Xu, S.J.
Author_Institution
Univ. Picardie, Amiens, France
Volume
2
fYear
2001
fDate
2001
Firstpage
696
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2001. Proceedings of the 2001
Conference_Location
Arlington, VA
ISSN
0743-1619
Print_ISBN
0-7803-6495-3
Type
conf
DOI
10.1109/ACC.2001.945795
Filename
945795
Link To Document