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A sliding mode approach to automatic car steering

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/
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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Guldner, J.UNSPECIFIEDUNSPECIFIED
Utkin, V.UNSPECIFIEDUNSPECIFIED
Ackermann, J.UNSPECIFIEDUNSPECIFIED
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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