The asymptotic stabilization problem for a class of nonlinear under-actuated systems is studied and solved. Its solution, together with the back-stepping and the forwarding control design methods, is exploited in the control of the nonlinear lateral dynamics of a vehicle. Even though the theoretical studies of the lateral control of autonomous vehicles are traditionally applied to lane keeping cases, the results can be applied to broader range of areas, such as lane changing cases. The comparison between the performances of the closed-loop systems with the given controller and a typical human driver is given and demonstrates the speediness and the effectiveness of the feedback controller.
Lateral Control of an Autonomous Vehicle
IEEE Transactions on Intelligent Vehicles ; 3 , 2 ; 228-237
2018-06-01
1039247 byte
Article (Journal)
Electronic Resource
English
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