DocumentCode
3462434
Title
Automatic path tracking control of vehicles based on Lyapunov approach
Author
Zhang, J.R. ; Xu, S.J. ; Rachid, A.
Author_Institution
Laboratuire des Syst. Automatiques, Univ. de Picardie-Jules Verne, Amiens, France
fYear
2001
fDate
2001
Firstpage
370
Lastpage
374
Abstract
This paper studies the controller design for automatic steering of vehicles to track the desired path. The coupled nonlinear model is considered. A suitable transformation is applied to deal with the nonlinearities. Here, no assumption of small angle is used and no nonlinearly coupling term of the model is ignored. A controller based on Lyapunov approach is derived to handle this complex system. Simulation results show that the designed controller is effective
Keywords
Lyapunov methods; control system synthesis; interconnected systems; nonlinear control systems; road vehicles; tracking; Lyapunov approach; automatic path tracking control; automatic steering; complex system; controller design; coupled nonlinear model; vehicle control; Aerodynamics; Automatic control; Control systems; Couplings; Lyapunov method; Nonlinear control systems; Sliding mode control; Steady-state; Vehicle driving; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE
Conference_Location
Oakland, CA
Print_ISBN
0-7803-7194-1
Type
conf
DOI
10.1109/ITSC.2001.948685
Filename
948685
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