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A robust PI controller for emulating lateral dynamics of vehicles

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4 Author(s)
C. Villegas ; Hamilton Institute, NUI Maynooth, Ireland. ; M. Akar ; R. N. Shorten ; J. Kalkkuhl

In this paper we present a framework for vehicle emulation. Based on a decoupling assumption, a robust PI controller is presented for the tracking of predefined vehicle lateral dynamics. Our designs are validated using a full nonlinear vehicle simulator and are shown to be robust to perturbations and capable of providing the basis for emulating a wide range of vehicle types.

Published in:

2007 IEEE Intelligent Vehicles Symposium

Date of Conference:

13-15 June 2007