Title :
Robust lateral decoupling and longitudinal vss control design for autonomous vehicles
Author :
Stotsky, A. ; Hu, X.
Author_Institution :
Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden
Abstract :
A new combined lateral/longitudinal controller, within the robust lateral decoupling concept [2], is designed and analyzed for an autonomous vehicle. The controller operates under parametric uncertainties and unknown time varying disturbances, such as wind gust etc., thereby it only uses measurements of the velocity, the longitudinal acceleration and the yaw rate of the vehicle.
Keywords :
automobiles; control system synthesis; mobile robots; robot dynamics; robust control; time-varying systems; uncertain systems; variable structure systems; velocity measurement; autonomous vehicles; lateral/longitudinal controller; longitudinal VSS control design; longitudinal acceleration; parametric uncertainties; robust lateral decoupling; time varying disturbances; variable structure system; vehicle yaw rate; velocity measurement; Acceleration; Force; Robustness; Stability analysis; Tires; Vehicles; Wheels; Robustness; car steering; nonlinear control; variable structure control;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
