Design of position feedback controllers for vehicle lateral motion

Te-Sheng Hsiao*, Masayoshi Tomizuka

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

The vehicle lateral control system performs lane keeping and lane changing tasks on the automated highways. It is of critical importance for the lateral controller to be robust with respect to model uncertainties and various road conditions under the constraints of limited actuator power. In this paper we proposed a controller design method which consists of two steps: (i) designing a state-feedback controller of an "augmented plant" by assuming all state variables are available and (ii) converting it to an output-feedback controller. The state-feedback controller in step (i) is designed to achieve all the control objectives under the assumption that state feedback is feasible. The conversion to an output-feedback controller in the second step preserves the closed-loop characteristics; hence both state-feedback and output-feedback controllers have the same performance and robustness. Experiments on a passenger car show that small tracking errors and smooth steering command can be achieved by the proposed controller.

Original languageEnglish
Title of host publicationProceedings of the 2006 American Control Conference
Pages5855-5860
Number of pages6
DOIs
StatePublished - 1 Dec 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: 14 Jun 200616 Jun 2006

Publication series

NameProceedings of the American Control Conference
Volume2006
ISSN (Print)0743-1619

Conference

Conference2006 American Control Conference
CountryUnited States
CityMinneapolis, MN
Period14/06/0616/06/06

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