Combined controller-observer design with guaranteed closed-loop stability for automated vehicle operation

Abstract

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.