Vörös, Illés and Takács, Dénes and Orosz, Gábor (2024) Towards Globally Stable Path-Following Control of Automated Vehicles. In: 11th European Nonlinear Dynamics Conference, ENOC 2024, 2024.07.22-2024.07.26, Delft.
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Abstract
Thepath-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.
| Item Type: | Conference or Workshop Item (Paper) |
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| Subjects: | T Technology / alkalmazott, műszaki tudományok > TE Highway engineering. Roads and pavements / közlekedésmérnöki, útépítési technika |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 19 Sep 2024 07:53 |
| Last Modified: | 19 Sep 2024 07:53 |
| URI: | https://real.mtak.hu/id/eprint/205254 |
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