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Slip-Angle Feedback Control for Autonomous Safety-Critical Maneuvers At-the-Limit of Friction
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-4034-2868
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-1320-032X
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
2018 (English)In: Proceedings of the 14th International Symposium on Advanced Vehicle Control (AVEC’ 18), 2018Conference paper, Published paper (Refereed)
Abstract [en]

From the basis of optimal control, a closed-loop controller for autonomous vehicle maneuvers at-the-limit of friction is developed.The controller exploits that the optimal solution tends to be close to the friction limit of the tires.This observation allows for simplifications that enable the use of a proportional feedback control in the control loop,which provides a smooth trajectory promising for realization in an actual control system.The controller is in comparison with an open-loop numerical optimal control solution shown to exhibit promising performance at low computational cost in a challenging turn scenario.

Place, publisher, year, edition, pages
2018.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-149899OAI: oai:DiVA.org:liu-149899DiVA, id: diva2:1235978
Conference
International Symposium on Advanced Vehicle Control (AVEC)
Available from: 2018-07-30 Created: 2018-07-30 Last updated: 2018-11-27Bibliographically approved

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Slip-Angle Feedback Control for Autonomous Safety-Critical Maneuvers At-the-Limit of Friction(371 kB)58 downloads
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File name FULLTEXT01.pdfFile size 371 kBChecksum SHA-512
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Type fulltextMimetype application/pdf

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • vancouver
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  • de-DE
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  • en-US
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  • nn-NB
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Output format
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