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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

Full text not available from this repository.

Official URL: http://ejum.fsktm.um.edu.my/ArticleInformation.aspx?ArticleID=347

Affiliations

University of Malaya, Mechanical Engineering Dept., Malaysia
Nagoya University, Dept. of Electronic-Mechanical Engineering, Japan

Abstract

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.

Item Type:Journal
Keywords:automated driver, velocity fields, passivity based controller
Subjects:Q Science
L Education
ID Code:1569

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[3]. Fenton, R.E. and Mayhan, R.J. Automated highway studies at the OhioState University-an overview, IEEE Transactions on Vehicular Technology, Vol. 40, No. 1, February 1991, pp100-113.

[4]. T.J. Gordon, M.C. Best and P.J. Dixon, An automated driver based onconvergent vector fields, Proc IME Part D J. Auto. Eng., Vol. 216, 2002.

[6]. J.R. Zhang, A. Rachid, and S.J. Xu, Velocity Controller Design forAutomatic Steering of Vehicles, Proc. ACC, June 25-27, 2001, pp 696-697.

[5]. J.Y. Wong, Theory of Ground Vehicles, John Wiley & Sons, 2nd. Edition.

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