DocumentCode
2051525
Title
An adaptive control method of automated vehicles with integrated longitudinal and lateral dynamics in road following
Author
Beji, Lotfi ; Bestaoui, Yasmina
Author_Institution
Lab. des Systemes Complexes, Univ. d´´Evry, Evry, France
fYear
2001
fDate
2001
Firstpage
201
Lastpage
206
Abstract
This paper proposes an adaptive control using the integrated longitudinal and lateral dynamics models of automated vehicles. Dynamics are described by a nonlinear nonholonomic model. We show that the dynamics of the DC-actuated vehicle is asymptotically stable, with well updated dynamic parameters
Keywords
adaptive control; dynamics; nonlinear systems; position control; road vehicles; adaptive control; dynamics; lateral models; longitudinal models; nonholonomic systems; nonlinear systems; road following; road vehicles; Adaptive control; Aerodynamics; Automatic control; Control design; Navigation; Roads; Tires; Uncertainty; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location
Bukowy Dworek
Print_ISBN
83-7143-515-0
Type
conf
DOI
10.1109/ROMOCO.2001.973455
Filename
973455
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