Title :
An adaptive control method of automated vehicles with integrated longitudinal and lateral dynamics in road following
Author :
Beji, Lotfi ; Bestaoui, Yasmina
Author_Institution :
Lab. des Systemes Complexes, Univ. d´´Evry, Evry, France
Abstract :
This paper proposes an adaptive control using the integrated longitudinal and lateral dynamics models of automated vehicles. Dynamics are described by a nonlinear nonholonomic model. We show that the dynamics of the DC-actuated vehicle is asymptotically stable, with well updated dynamic parameters
Keywords :
adaptive control; dynamics; nonlinear systems; position control; road vehicles; adaptive control; dynamics; lateral models; longitudinal models; nonholonomic systems; nonlinear systems; road following; road vehicles; Adaptive control; Aerodynamics; Automatic control; Control design; Navigation; Roads; Tires; Uncertainty; Vehicle dynamics; Wheels;
Conference_Titel :
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location :
Bukowy Dworek
Print_ISBN :
83-7143-515-0
DOI :
10.1109/ROMOCO.2001.973455
