Lateral control of higher order nonlinear vehicle model in emergency maneuvers using absolute positioning GPS and magnetic markers

IEEE Transactions on Vehicular Technology

Volumn 53, Issue 2, 2004, Pages 372-384

  Hernandez, Jose I ^a   Kuo, Chen Yuan ^b  

^a INTEL CORPORATION   (United States)

^b AZ 85281   (United States)

Author keywords

Gain scheduling; Invariance plane; Nonlinear vehicle model; Parameter space approach; Robust control; Steering control

Indexed keywords

ACCELERATION; ALGORITHMS; AUTOMATION; COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; DEGREES OF FREEDOM (MECHANICS); MAGNETOOPTICAL DEVICES; MANEUVERABILITY; ROBUSTNESS (CONTROL SYSTEMS); SCHEDULING; SENSORS; STEERING;

AUTOMATIC STEERING SYSTEM; GAIN SCHEDULING; HIGHER ORDER NONLINEAR VEHICLE MODEL; INVARIANCE PLANE; LATERAL CONTROL; MAGNETIC MARKERS;

GLOBAL POSITIONING SYSTEM;

EID: 1942421788     PISSN: 00189545     EISSN: None     Source Type: Journal    
DOI: 10.1109/TVT.2003.823292     Document Type: Article

References (17)

1. J. I. Hernandez and C. Y. Kuo, "Steering control of automated vehicles using absolute positioning GPS and magnetic markers," IEEE Trans. Veh. Technol., vol. 52, pp. 150-161, Jan. 2003.
2. D. E. Smith and J. M. Starkey, "Effects of model complexity on the performance of automated vehicle steering controllers: model development validation and comparison," Veh. Syst. Dynam., vol. 24, pp. 163-181, 1995.
3. ____, "Effects of model complexity of the performance of automated vehicle steering controllers: controller development and evaluation," Veh. Syst. Dynam., vol. 23, pp. 627-645, 1994.
4. J. Guldner, W. Sienel, H. S. Tan, J. Ackermann, S. Patwardhan, and T. Bünte, "Robust automatic steering control for look-down reference systems with front and rear sensors," IEEE Trans. Contr. Syst. Technol., vol. 7, pp. 2-11, Jan. 1999.
5. D. E. Williams and W. M. Haddad, "Nonlinear control of roll moment distribution to influence vehicle yaw characteristics," IEEE Trans. Contr. Syst. Technol., vol. 3, pp. 110-116, Mar. 1995.
6. H. Dugoff, P. S. Fancher, and L. Segel, "An analysis of tire traction properties and their influence on vehicle dynamic performance," SAE Trans., vol. 79, pp. 341-366, 1970.
7. S. Patwardhan, H. S. Tan, and J. Guldner, "A general framework for automatic steering control: system analysis," in Proc. Amer. Contr. Conf., 1997, pp. 1598-1602.
8. 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, June 1976.
9. W. Sienel and J. Ackermann, "Automatic steerin of vehicles with reference angular velocity feedback," in Proc. Amer. Contr. Conf., 1994, pp. 1957-1958.
10. J. Ackermann, P. Blue, T. Bünte, L. Güvenç, D. Kaesbauer, M. Kordt, M. Muhler, and D. Odenthal, Robust Control: The Parameter Space Approach. London, U.K.: Springer-Verlag, 2002.
11. J. Ackermann, "Parameter space design of robust control systems," IEEE Trans. Automat. Contr., vol. AC-25, pp. 1058-1072, Dec. 1980.
12. W. Sienel, T. Bünte, and J. Ackermann, "PARADISE - Parametric robust analysis and design interactive software environment: A MATLAB-based robust control toolbox," in Proc. 1996 IEEE Int. Symp. Computer-Aided Control System Design, Dearborn, MI, Sept. 15-18, 1996.
13. J. Ackermann, J. Guldner, W. Sienel, R. Steinhauser, and V. I. Utkin, "Linear and nonlinear controller design for robust automatic steering," IEEE Trans. Contr. Syst. Technol., vol. 3, Mar. 1995.
14. B. A. Güvenç and L. Güvenç, "Robust two degree-of-freedom add-on controller design for automatic steering," IEEE Trans. Contr. Syst. Technol., vol. 10, pp. 137-148, Jan. 2002.
15. A. G. Nalecz, "Sensitivity analysis of vehicle design attributes in frequency domain," Veh. Syst. Dynam., vol. 17, pp. 141-163, 1988.
16. I. Cech, "A pitch-plane model of a vehicle with controlled suspension," Veh. Syst. Dynam., vol. 23, pp. 133-148, 1994.
17. K. Mori, "Vehicle cornering characteristics in acceleration and braking through attitude control of front and rear tires," Japanese Soc. Mech. Eng. Int. J., vol. 39, no. 1, pp. 58-66, 1996.