Title :
Preview Control for Vehicle Lateral Guidance in Highway Automation
Author :
Peng, Huei ; Tomizuka, Masayoshi
Author_Institution :
Graduate student, Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720
Abstract :
Continuous deterministic preview control is applied to the vehicle lateral contol problem. It is shown that the preview control consists of a feedback term and two feedforward terms. If the preview control algorithm is applied on the FSLQ augmented system, the feedback term will be exactly the same as the FSLQ feedback control law. Therefore, the advantages of the FSLQ control law (robustness on measurement noises, including ride quality explicitly in the performance index, etc. see [1]) remain in the preview control law. Frequency-domain analysis and numerical simulation results are presented to show the improvements introduced by utilizing preview control in both the time domain and the frequency domain.
Keywords :
Automated highways; Automatic control; Automation; Control systems; Feedback control; Frequency domain analysis; Navigation; Noise robustness; Road vehicles; Robust control;
Conference_Titel :
American Control Conference, 1991
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-87942-565-2
