Guldner, J. and Utkin, V. and Ackermann, J. (1993) A sliding mode approach to automatic car steering. Regular paper subm. for the American Control Conference 1994.
Full text not available from this repository.
Abstract
Highway automation is a promising approach to cope with increasing traffic and road congestions. An important control subtask of an Intelligent Vehicle/Highway System is lateral vehicle control. Due to system uncertainties and the wide range of operating conditions, state-of-the-art robust control techniques are required. This paper introduces two efficient automatic steering controllers for the lane keeping of cars under highway conditions. The control design procedure is based on sliding mode control and robust state observation. It is shown that good tracking of a reference path, delineated either continuously or by discrete markers, can be achieved with a minimum effort in sensing and without preview of the road curvature.
Item URL in elib: | https://elib.dlr.de/28020/ | ||||||||||||
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Document Type: | Article | ||||||||||||
Additional Information: | LIDO-Berichtsjahr=1993, monograph_id=515-93-22, pages=20, | ||||||||||||
Title: | A sliding mode approach to automatic car steering | ||||||||||||
Authors: |
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Date: | 1993 | ||||||||||||
Journal or Publication Title: | Regular paper subm. for the American Control Conference 1994 | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | No | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | Yes | ||||||||||||
Series Name: | DLR-IB | ||||||||||||
Status: | Published | ||||||||||||
HGF - Research field: | UNSPECIFIED | ||||||||||||
HGF - Program: | other | ||||||||||||
HGF - Program Themes: | other | ||||||||||||
DLR - Research area: | UNSPECIFIED | ||||||||||||
DLR - Program: | no assignment | ||||||||||||
DLR - Research theme (Project): | UNSPECIFIED | ||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme | ||||||||||||
Deposited By: | DLR-Beauftragter, elib | ||||||||||||
Deposited On: | 02 Apr 2006 | ||||||||||||
Last Modified: | 27 Apr 2009 06:51 |
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