Predictive steering control using Laguerre series representation

Acquisition and utilization of lateral guidance is crucial for steering a vehicle. In practice, human drivers have performed this function quite successfully using perception and hand-eye coordination. However, this task becomes difficult when the vehicle losses its stability. In this paper, we investigate this problem using the Laguerre series representation. The plant is modeled by an orthogonal Laguerre network put in a state space form. A simple predictive control law is proposed. The potential of such a scheme is illustrated by simulation results.