標題: A feedback linearization design for the control of vehicle's lateral dynamics
作者: Liaw, Der-Cherng
Chung, Wen-Ching
Song, Chau-Chung
Hsieh, Chien-Shu
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: feedback linearization design;vehicle dynamics
公開日期: 2006
摘要: In this paper, the feedback linearization scheme is applied to the control of vehicle's lateral dynamics. Based on the assumption of constant driving speed, a second-order nonlinear lateral dynamical model is adopted for controller design. It was observed in Liaw and Chung (2006) that the saddle-node bifurcation would appear in vehicle dynamics with respect to the variation of the front wheel steering angle, which might result in spin and/or system instability. Feedback linearization control laws are proposed in this paper to stabilize the vehicle's dynamics at bifurcation points. Numerical simulations for an example model demonstrate the effectiveness of the analytical results.
URI: http://hdl.handle.net/11536/17521
ISBN: 978-89-950038-4-8
期刊: 2006 SICE-ICASE International Joint Conference, Vols 1-13
起始頁: 2580
結束頁: 2585
Appears in Collections:Conferences Paper