標題: Combined controller-observer design with guaranteed closed-loop stability for automated vehicle operation
作者: Kumarawadu, S
Lee, TT
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 2005
摘要: 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.
URI: http://hdl.handle.net/11536/17811
ISBN: 0-7803-8812-7
期刊: 2005 IEEE Networking, Sensing and Control Proceedings
起始頁: 294
結束頁: 298
Appears in Collections:Conferences Paper