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dc.contributor.authorChen, Cen_US
dc.contributor.authorTan, HSen_US
dc.date.accessioned2014-12-08T15:27:14Z-
dc.date.available2014-12-08T15:27:14Z-
dc.date.issued1998en_US
dc.identifier.isbn0-7803-4394-8en_US
dc.identifier.issn0191-2216en_US
dc.identifier.urihttp://hdl.handle.net/11536/19476-
dc.description.abstractA popular automatic steering control approach for passenger cars is to decouple the yaw motion from lateral motion by using yaw rate feedback. It will be shown in this paper that by re-defining the control position at a frequency-dependent distance ahead of the vehicle, the yaw dynamics can also be decoupled. The resulting system dynamics with this dynamic look-ahead scheme can be simplified into a double-integrator vehicle dynamics with a constant open-loop gain. It is further shown in this paper that even though the simplified system dynamics obtained from the dynamic look ahead scheme appears similar to that from the decoupling approach using yaw rate feedback, the hidden (unobservable) dynamics of the closed control loop is fundamentally different.en_US
dc.language.isoen_USen_US
dc.subjectvehicle controlen_US
dc.subjectautomatic steeringen_US
dc.subjectlateral controlen_US
dc.subjectyaw decouplingen_US
dc.subjectoutput re-definitionen_US
dc.subjectzero dynamicsen_US
dc.titleSteering control of high speed vehicles: Dynamic look ahead and yaw rate feedbacken_US
dc.typeProceedings Paperen_US
dc.identifier.journalPROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4en_US
dc.citation.spage1025en_US
dc.citation.epage1030en_US
dc.contributor.department機械工程學系zh_TW
dc.contributor.departmentDepartment of Mechanical Engineeringen_US
dc.identifier.wosnumberWOS:000079708900200-
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