Optimal H∞ Control for Lateral Dynamics of Autonomous Vehicles
نویسندگان
چکیده
منابع مشابه
Lateral control strategy for autonomous steering of Ackerman-like vehicles
This paper presents the results of a lateral control strategy that has been applied to the problem of steering an autonomous vehicle using vision. The lateral control law has been designed for any kind of vehicle presenting the Ackerman kinematic model, accounting for the vehicle velocity as a crucial parameter for adapting the steering control response. This makes the control strategy suitable...
متن کاملFault Tolerant Autonomous Lateral Control for Heavy Vehicles
The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This report does not constitute a standard, specification, or regulation. Lateral Control for Heavy Vehicles ". This project represents a continuing effort ...
متن کاملNonlinear Lateral Control of Vision Driven Autonomous Vehicles*
This paper presents the results of a lateral control strategy that has been applied to the problem of steering an autonomous vehicle using vision. The lateral control law has been designed for any kind of car-like vehicle presenting the Ackerman kinematic model, accounting for the vehicle velocity as a crucial parameter for adapting the steering control response. This makes the control strategy...
متن کاملLFT/H∞ varying sampling control for Autonomous Underwater Vehicles
This paper deals with the robust control of an Autonomous Underwater Vehicle (AUV) subject to communication constraints. The aim is the design of a gain-scheduled varying sampling controller using non periodic measurements from ultrasonic sensors. The contribution of this work lies in a new model formulation of varying sampling discrete-time systems using the Linear Fractional Transformation (L...
متن کاملAdaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2021
ISSN: 1424-8220
DOI: 10.3390/s21124072