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.


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    Title :

    A robust PI controller for emulating lateral dynamics of vehicles


    Contributors:
    Villegas, C. (author) / Akar, M. (author) / Shorten, R.N. (author) / Kalkkuhl, J. (author)


    Publication date :

    2007-06-01


    Size :

    849165 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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