Title :
Combined controller-observer design with guaranteed closed-loop stability for automated vehicle operation
Author :
Kumarawadu, Sisil ; Lee, Tsu-Tian
Author_Institution :
Dept. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
Automated vehicle control system is a key technology for intelligent vehicle highway systems (IVHSs). A model based combined longitudinal and lateral vehicle control algorithm that encompasses a lateral velocity observer is presented in this paper for IVHSs applications. Closed-loop stability issues are analyzed using a Lyapunov-based method. The combined controller-observer scheme can guarantee uniform ultimate bounds (UUB) of controller errors and observer estimation error. Analysis, design, and simulation testing presented are based on 3 DOF complex dynamic model of a FWS/FWD passenger wagon.
Keywords :
Lyapunov methods; automated highways; closed loop systems; control system synthesis; observers; road vehicles; stability; Lyapunov-based method; automated vehicle control system; automated vehicle operation; guaranteed closed-loop stability; intelligent vehicle highway system; lateral velocity observer; uniform ultimate bounds; Automated highways; Automatic control; Control systems; Error analysis; Error correction; Estimation error; Intelligent vehicles; Road vehicles; Stability analysis; Velocity control;
Conference_Titel :
Networking, Sensing and Control, 2005. Proceedings. 2005 IEEE
Print_ISBN :
0-7803-8812-7
DOI :
10.1109/ICNSC.2005.1461204
