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
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;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7170889
