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Nonlinear robust loop shaping controller design for automated lane guidance of heavy vehicles

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2 Author(s)
Meihua Tai ; Dept. of Mech. Eng., California Univ., Berkeley, CA, USA ; M. Tomizuka

A nonlinear robust controller design method is proposed for the lateral control of heavy vehicles for automated highway systems. In the controller design, the actuator dynamics is explicitly taken into account. A first order pre-filter is introduced to reduce chattering which is inherent in the nonlinear robust controller and to prevent the saturation in the front wheel steering angle and steering system slew rate. A constructive backstepping design technique is utilized in the design of a robust controller for the augmented system. Simulation results are shown

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American Control Conference, 2000. Proceedings of the 2000  (Volume:3 )

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