Abstract:
This paper studies the controller design for automatic steering of vehicles to track the desired path. The desired path is a general curved road. The nonlinear model with...Show MoreMetadata
Abstract:
This paper studies the controller design for automatic steering of vehicles to track the desired path. The desired path is a general curved road. The nonlinear model with coupled inputs is considered. A suitable transformation is applied to decouple the inputs. Here, no assumption of small angle is used and no nonlinearly coupling term of the model is ignored. A controller based on Lyapunov approach is derived to handle this complex system. Simulation results show that the designed controller is effective.
Date of Conference: 08-10 May 2002
Date Added to IEEE Xplore: 07 November 2002
Print ISBN:0-7803-7298-0
Print ISSN: 0743-1619