Title :
Automatic path tracking control of vehicles based on Lyapunov approach
Author :
Zhang, J.R. ; Xu, S.J. ; Rachid, A.
Author_Institution :
Laboratuire des Syst. Automatiques, Univ. de Picardie-Jules Verne, Amiens, France
Abstract :
This paper studies the controller design for automatic steering of vehicles to track the desired path. The coupled nonlinear model is considered. A suitable transformation is applied to deal with the nonlinearities. Here, no assumption of small angle is used and no nonlinearly coupling term of the model is ignored. A controller based on Lyapunov approach is derived to handle this complex system. Simulation results show that the designed controller is effective
Keywords :
Lyapunov methods; control system synthesis; interconnected systems; nonlinear control systems; road vehicles; tracking; Lyapunov approach; automatic path tracking control; automatic steering; complex system; controller design; coupled nonlinear model; vehicle control; Aerodynamics; Automatic control; Control systems; Couplings; Lyapunov method; Nonlinear control systems; Sliding mode control; Steady-state; Vehicle driving; Vehicle dynamics;
Conference_Titel :
Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE
Conference_Location :
Oakland, CA
Print_ISBN :
0-7803-7194-1
DOI :
10.1109/ITSC.2001.948685
