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Browsing by Author "Kumarawadu, S"

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    Combined controller-observer design with guaranteed closed-loop stability for automated vehicle operation
    (2005)
    Kumarawadu, S
    ;
    Lee, TT
    ;
    電控工程研究所
    ;
    Institute of Electrical and Control Engineering
    Automated vehicle control systems is a key technology for Intelligent Vehicle Highway Systems (IVHSs). A model-based combined longitudinal and lateral vehicle control algorithm that encompasses a lateral velocity observer is presented in this paper for IVHSs applications. Closed-loop stability issues are analyzed using a Lyapunov-based method. The combined controller-observer scheme can guarantee uniform ultimate bounds (UUB) of controller errors and observer estimation error. Analysis, design, and simulation testing presented are based on 3 DOF complex dynamic model of a FWS/FWD passenger wagon.