Lane keeping control for autonomous 4WS4WD vehicles subject to wheel slip constraint

This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint...

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Bibliographic Details
Published in2012 American Control Conference (ACC) pp. 6515 - 6520
Main Authors Changfang Chen, Yingmin Jia, Junping Du, Fashan Yu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2012
Subjects
Aerodynamics
Friction
Roads
Tires
Vehicle dynamics
Vehicles
Wheels
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ISBN9781457710957
1457710951
ISSN0743-1619
DOI10.1109/ACC.2012.6314731

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Summary:This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.
ISBN:9781457710957
1457710951
ISSN:0743-1619
DOI:10.1109/ACC.2012.6314731