DocumentCode :
300833
Title :
Nonlinear-gain-optimized controller development and evaluation for automated emergency vehicle steering
Author :
Smith, Dirk E. ; Starkey, John M. ; Benton, Robert E.
Author_Institution :
Dept. of Mech. Eng., Louisiana State Univ., Baton Rouge, LA, USA
Volume :
5
fYear :
1995
fDate :
21-23 Jun 1995
Firstpage :
3586
Abstract :
Earlier research in advanced vehicle control systems (AVCS) has focused on automated lateral and headway control during low-g maneuvers. However, most emergency situations involve high-g maneuvers where vehicle performance becomes nonlinear. Robust controllers need to be developed that can react to these emergency situations. This paper investigates the development of a nonlinear-gain-optimized (NGO) controller for automated lateral control during emergencies. The strategy is to use a linear model to define the state model and a nonlinear model to optimize the feedback gains for high-g emergency maneuvers. The performance of the NGO controller is presented at 15 and 30 m/s for a step lane change and a double lane change. The NGO controller´s robustness is investigated with respect to changes in tire parameters and the number of passengers
Keywords :
emergency services; nonlinear control systems; road vehicles; robust control; advanced vehicle control systems; automated emergency vehicle steering; automated lateral control; double lane change; emergency situations; feedback gains; high-g maneuvers; nonlinear-gain-optimized controller; robust controllers; step lane change; Acceleration; Automatic control; Automobiles; Control systems; Equations; Mechanical engineering; Robust control; State feedback; Tires; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
Type :
conf
DOI :
10.1109/ACC.1995.533805
Filename :
533805
Link To Document :
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