Passivity Based Control Of Automated Driver Based On Vector Field
Saifizul, A.A and Hosoe, S. and Zainon, Z. and Abu Osman, N.A. (2006) Passivity Based Control Of Automated Driver Based On Vector Field. Engineering e-Transaction, 1 (1). pp. 27-37. ISSN 1823-6379
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Official URL: http://ejum.fsktm.um.edu.my/ArticleInformation.aspx?ArticleID=347
University of Malaya, Mechanical Engineering Dept., Malaysia
Nagoya University, Dept. of Electronic-Mechanical Engineering, Japan
The objectives of an automated driver are to let vehicles track the desired trajectory in a natural way and to mantain good ride quality. In order to satisfy the above objectives, this paper use a control technique based on velocity fields concept and Passivity Based Control (PBC) method to derive the control law, such that longitudinal, lateral and yaw velocity converge asymptotically to a desired vector field. Simulation results show the performance of the controller is satisfactory.
|Keywords:||automated driver, velocity fields, passivity based controller|
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