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A robust nonlinear control approach to automatic path tracking of a car

Ackermann, J. and Guldner, J. and Utkin, V. (1993) A robust nonlinear control approach to automatic path tracking of a car. DLR-Interner Bericht. 515-93-35, 6 S.

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Abstract

Autonomous vehicles are under investigation for future automated Intelligent Vehicle Highway Systems (IVHS). An important system component is the dynamic controller utilized to follow a desired path delineated by a reference guideline in the road surface. The tracking controller has to be robust with respect to uncertain, and possibly time varying, operating conditions, and external disturbances. In this paper, we present a robust nonlinear control strategy based on sliding mode theory which can be applied to various autonomous vehicles. The design procedure and the performance of the proposed algorithm is illustrated in numerical case studies for a sedan.

Item URL in elib:https://elib.dlr.de/28052/
Document Type:Monograph (DLR-Interner Bericht)
Additional Information: LIDO-Berichtsjahr=1993,
Title:A robust nonlinear control approach to automatic path tracking of a car
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ackermann, J.UNSPECIFIEDUNSPECIFIED
Guldner, J.UNSPECIFIEDUNSPECIFIED
Utkin, V.UNSPECIFIEDUNSPECIFIED
Date:1993
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:6
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 06:52

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