Passivity Based Control Of Automated Driver Based On Vector Field

Saifizul, A.A. and Hosoe, S. and Zainon, Zambri and Abu Osman, N.A. (2006) Passivity Based Control Of Automated Driver Based On Vector Field. Engineering e-Transaction, 1 (1). pp. 27-37.

[img] PDF
347.pdf

Download (373kB)
Official URL: http://ejum.fsktm.um.edu.my/

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 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: Article
Uncontrolled Keywords: automated driver, velocity fields, passivity based controller
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics
Depositing User: MS SITI NUR ATIKAH MOHAMAD RUSDI
Date Deposited: 31 Jul 2013 02:57
Last Modified: 31 Jul 2013 02:57
URI: http://repository.um.edu.my/id/eprint/1308

Actions (login required)

View Item View Item