Robust automatic steering control for look-down reference systems with front and rear sensors

IEEE Transactions on Control Systems Technology

Volumn 7, Issue 1, 1999, Pages 2-11

  Guldner, Jürgen ^b   Sienel, Wolfgang ^c   Tan, Han Shue ^d   Ackermann, Jürgen ^a,e   Patwardhan, Satyajit ^f   Bünte, Tilman ^e  

^a IEEE

^b BMW AG   (Germany)

^c Etas GmbH   (Germany)

^d UNIVERSITY OF CALIFORNIA   (United States)

^e Inst of Robotics and System Dynamics   (Germany)

^f Cyclonics Inc   (United States)

Author keywords

Automatic steering; Automotive; Robust control

Indexed keywords

CONSTRAINT THEORY; INVARIANCE; OPTIMIZATION; ROBUSTNESS (CONTROL SYSTEMS); SENSORS; STEERING;

AUTOMATIC STEERING CONTROL; LATERAL DISPLACEMENT SENSOR; LOOK DOWN REFERENCE SYSTEMS; MULTIOBJECTIVE OPTIMIZATION PROGRAM;

CONTROL SYSTEM SYNTHESIS;

EID: 0032759528     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/87.736743     Document Type: Article

References (18)

1. S. Patwardhan, H.-S. Tan, and J. Guldner, "A general frame-work for automatic steering control: System analysis," in Proc. Amer. Contr. Conf., Albuquerque, NM, 1997, pp. 1598-1602.
2. J. Guldner, H.-S. Tan, and S. Patwardhan, "Analysis of automatic steering control for highway vehicles with look-down lateral reference systems," Veh. Syst. Dynamics, vol. 26, no. 4, pp. 243-269, 1996.
3. _, "On fundamental issues of vehicle steering control for highway automation," Automatica, submitted 1996.
4. W. Stevens, "The automated highway system program: A progress report," in 13th IFAC World Congr., Preprints, San Francisco, CA, 1996, pp. 25-34.
5. S. Tsugawa, M. Aoki, A. Hosaka, and K. Seki, "A survey of present IVHS activities in Japan," in 13th IFAC World Congress, vol. Q, Preprints, San Francisco, CA, 1996, pp. 147-152.
6. M. Maurer et al., "VaMoRs-P: An advanced platform for visual autonomous road vehicle guidance," in Proc. SPIE Conf. Mobile Robots IX, Boston, MA, 1994.
7. B. Ulmer, "VITA - An autonomous road vehicle (ARV) for collision avoidance in traffic," in Proc. Intell. Veh. '92, Detroit, MI, pp. 36-41.
8. _, "VITA II - Active collision avoidance in real traffic," in Proc. Intell. Veh. '94, Paris, France, pp. 1-6.
9. T. Jochem, D. Pomerleau, B. Kumar, and J. Armstrong, "PANS: A portable navigation platform," in Proc. Intell. Veh. Symp., Detroit, MI, 1995, pp. 107-112.
10. Q.-T. Luong, J. Weber, D. Koller, and J. Malik, "An integrated stereo-based approach to automatic vehicle guidance," in Proc. 5th ICCV, June 1995.
11. K. A. Ünyelioǧlu, C. Hatipoǧlu, and Ü. Özgüner, "Design and stability analysis of a lane following controller," IEEE Trans. Contr. Syst. Technol., vol. 5, pp. 127-134, 1997.
12. R. E. Fenton, G. C. Melocik, and K. W. Olson, "On the steering of automated vehicles: Theory and experiment," IEEE Trans. Automat. Contr., vol. AC-21, pp. 306-315, 1976.
13. W. Darenberg, "Automatische Spurführung von Kraftfahrzeugen (in German)," Automobil-Industrie, 1987, pp. 155-159.
14. W. Zhang and R. E. Parsons, "An intelligent roadway reference system for vehicle lateral guidance/control," in Proc. Amer. Contr. Conf., San Diego, CA, 1990, pp. 281-286.
15. J. Ackermann, A. Bartlett, D. Kaesbauer, W. Sienel, and R. Steinhauser, Robust Control: Systems with Uncertain Physical Parameters. London, U.K.: Springer-Verlag, 1993.
16. J. Ackermann and S. Türk, "A common controller for a family of plant models," in Proc. 21st IEEE Conf. Decision Contr., Orlando, FL, 1982, pp. 240-244.
17. G. Grübel, H. D. Joos, M. Otter, and R. Finsterwalder, "The ANDECS design environment for control engineering," in Proc. 12th IFAC World Congr., Sydney, Australia, 1993.
18. J. Guldner, S. Patwardhan, H.-S. Tan, and W.-B. Zhang, "Coding of magnetic markers for demonstration of automated highway systems," in Transportation Res. Board Annu. Meet., Preprints, Washington, D.C., 1997.