Abstract
The lane keeping control law with parametric uncertainties for automated highway systems was studied. With the assumption of the boundness of such uncertain parameters as the mass of vehicle, moment of inertia and tire cornering stiffness, etc, the dynamic equations for vehicle lateral position error and yaw angle error were established based on the look-ahead scheme and vehicle lateral dynamic model. The variable structure control law for lane keeping was designed by using the terminal sliding mode, and Lyapunov stability theory was used to analyze stability of the control systems. Simulation results show that the control method designed here has fast convergence rate for the lateral displacement error and yaw angle error.
| Original language | English |
|---|---|
| Pages (from-to) | 81-84+88 |
| Journal | Dalian Haishi Daxue Xuebao/Journal of Dalian Maritime University |
| Volume | 34 |
| Issue number | 3 |
| State | Published - Aug 2008 |
| Externally published | Yes |
Keywords
- Automated highway systems
- Lane keeping
- Uncertain parameters
- Variable structure control
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