Title

Motion Controller Design Of Autonomous Vehicle

Abstract

This paper studies the motion control problem of an autonomous vehicle. The problem of the motion control is to control the driving mechanism of the vehicle automatically to track a desired path which may be prescribed or generated on line. A nonlinear two-dimensional wheeled-vehicle model is used. Both linear control and nonlinear state feedback controls are designed for the vehicle to track a circular path when initial disturbances exist. The results show that when the initial disturbance is small, the linear control works well. However, when the initial disturbance is large, nonlinear control has to be used. As a matter of fact, the controller designed in this paper works even when the initial condition is very far away from the desired trajectory.

Publication Date

1-1-1995

Publication Title

1995 Guidance, Navigation, and Control Conference

Number of Pages

1575-1579

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

Socpus ID

84959125088 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84959125088

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