Towards Globally Stable Path-Following Control of Automated Vehicles

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Summary
The path-following control of automated vehicles is analyzed in the presence of large disturbances. The global dynamics of three controller variations are analyzed using phase portraits, illustrating the domain of attraction of stable path-following, the presence of possible steady state solutions and the transient response of the system. A globally stable control law is proposed, which removes all unwanted steady state solutions, guaranteeing stable path-following regardless of initial conditions and disturbances.
Abstract ID :
167
University Of Michigan, Ann Arbor
Professor of Mechanical Engineering
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University Of Michigan, Ann Arbor
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