NONLINEAR CONTROLLER DESIGN FOR AUTOMATED VEHICLE APPLICATIONS

This paper describes the development of a nonlinear controller design methodology,known as the multiple sliding surface method, and its application to the automated longitudinal control of vehicles. The method was developed for a class of systems where the uncertainties are mismatched and where many of the equations contain spare experimentally obtained maps. The paper also applies the controller to design a combined brake/throttle controller for precision vehicle following. The controller was implemented on the California PATH vehicles at the DEMO'97 demonstration in San Diego, California. Performance of the controller is verified with experimental data.

  • Supplemental Notes:
    • Publication Date: 1998 Published By: Institution of Electrical Engineers, London
  • Corporate Authors:

    University of California, Berkeley

    Department of Mechanical Engineering
    Berkeley, CA  United States  94720-1740

    University of California, Berkeley

    California PATH Program, Institute of Transportation Studies
    Richmond Field Station, 1357 South 46th Street
    Richmond, CA  United States  94804-4648
  • Authors:
    • Hedrick, J Karl
  • Conference:
  • Publication Date: 1998

Language

  • English

Media Info

  • Pagination: p. 23-32

Subject/Index Terms

Filing Info

  • Accession Number: 00777668
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Files: PATH
  • Created Date: Nov 17 1999 12:00AM