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Hybrid architecture for vehicle lateral collision avoidance.
- Source :
-
IET Control Theory & Applications (Wiley-Blackwell) . Sep2018, Vol. 12 Issue 14, p1941-1950. 10p. - Publication Year :
- 2018
-
Abstract
- In this study, the authors consider the problem of collision avoidance of ground vehicles. In this framework, they focus on a single vehicle, and they guarantee that a given safe set is not exited during a mission. More specifically, they consider the yaw‐lateral motion of a two‐wheel vehicle subject to a side wind, and they design a state‐feedback controller such that the vehicle follows the nominal trajectory with a given maximum error. For these purposes, they resort to a control system where a supervisor, implemented as a hybrid automata, decides to switch between two controllers, depending on the measured vehicle lateral displacement from the nominal trajectory. The two controllers are designed using an H∞ approach and the input–output finite‐time stability approach, respectively. Some simulation results are included, showing the effectiveness of the proposed architecture. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 17518644
- Volume :
- 12
- Issue :
- 14
- Database :
- Academic Search Index
- Journal :
- IET Control Theory & Applications (Wiley-Blackwell)
- Publication Type :
- Academic Journal
- Accession number :
- 148081065
- Full Text :
- https://doi.org/10.1049/iet-cta.2017.1387