Passivity Analysis and Design of a Robust Nested Passivity-Based Controller for Trajectory Tracking of Autonomous Vehicles
نویسندگان
چکیده
منابع مشابه
Passivity Analysis and Design of a Robust Nested Passivity-Based Controller for Trajectory Tracking of Autonomous Vehicles
This paper focuses on the lateral control of intelligent vehicles. The aim is to minimize the lateral displacement of the autonomous vehicle with respect to a given reference trajectory. The control input is the steering angle and the output is the lateral error displacement. After passivity analysis of the system to establish the properties of passivity between the inputs and outputs, we prese...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2014
ISSN: 1474-6670
DOI: 10.3182/20140824-6-za-1003.01685