DocumentCode
728124
Title
Shared-control for the kinematic model of a rear-wheel drive car
Author
Jingjing Jiang ; Astolfi, Alessandro
Author_Institution
Dept. of Electr. & Electron. Eng., Imperial Coll. London, London, UK
fYear
2015
fDate
1-3 July 2015
Firstpage
1155
Lastpage
1160
Abstract
This paper presents a shared-control algorithm for the kinematic model of a rear-wheel drive car, for which the set of feasible Cartesian positions is defined by a group of linear inequalities. The shared-control scheme is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the shared-control law.
Keywords
Lyapunov methods; automobiles; vehicle dynamics; wheels; Cartesian positions; Lyapunov-like analysis; hysteresis switch; kinematic model; linear inequalities; rear-wheel drive car; shared-control algorithm; Adaptive control; Algorithm design and analysis; Fuzzy logic; Kinematics; Mathematical model; Trajectory; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2015
Conference_Location
Chicago, IL
Print_ISBN
978-1-4799-8685-9
Type
conf
DOI
10.1109/ACC.2015.7170889
Filename
7170889
Link To Document