In this paper we present a framework for vehicle emulation. Based on a decoupling assumption, a robust PI controller is presented for the tracking of predefined vehicle lateral dynamics. Our designs are validated using a full nonlinear vehicle simulator and are shown to be robust to perturbations and capable of providing the basis for emulating a wide range of vehicle types.
A robust PI controller for emulating lateral dynamics of vehicles
2007 IEEE Intelligent Vehicles Symposium ; 828-833
2007-06-01
849165 byte
Conference paper
Electronic Resource
English
A robust PI controller for emulating lateral dynamics of vehicles
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