By Topic

A robust PI controller for emulating lateral dynamics of vehicles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
C. Villegas ; Hamilton Institute, NUI Maynooth, Ireland. Carlos.Villegas@nuim.ie ; 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