DocumentCode
700526
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
fYear
1997
fDate
1-7 July 1997
Firstpage
569
Lastpage
574
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082156
Link To Document