DocumentCode
489264
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
fYear
1991
fDate
26-28 June 1991
Firstpage
3090
Lastpage
3095
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1991
Conference_Location
Boston, MA, USA
Print_ISBN
0-87942-565-2
Type
conf
Filename
4791977
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