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Passivity Based Control Of Automated Driver Based On Field Vektor

Saifizul Ahmad, and Hosoe S., and Zainon Zambri, and Abu Osman N.A., (2006) Passivity Based Control Of Automated Driver Based On Field Vektor. Engineering e-Transaction , 1 (1). pp. 22-37. ISSN 1823-6379

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

Affiliations

University of Malaya. Faculty of Computer Science & Information Technology
University of Malaya. Faculty of Engineering. Dept. of Mechanical Engineering
Nagoya University. Dept. of Electronic-Mechanical Engineering

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:T Technology
ID Code:314

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

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