YaBeSH Engineering and Technology Library

    • Journals
    • PaperQuest
    • YSE Standards
    • YaBeSH
    • Login
    View Item 
    •   YE&T Library
    • ASME
    • Journal of Dynamic Systems, Measurement, and Control
    • View Item
    •   YE&T Library
    • ASME
    • Journal of Dynamic Systems, Measurement, and Control
    • View Item
    • All Fields
    • Source Title
    • Year
    • Publisher
    • Title
    • Subject
    • Author
    • DOI
    • ISBN
    Advanced Search
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Archive

    Preview Control for Vehicle Lateral Guidance in Highway Automation

    Source: Journal of Dynamic Systems, Measurement, and Control:;1993:;volume( 115 ):;issue: 004::page 679
    Author:
    Huei Peng
    ,
    Masayoshi Tomizuka
    DOI: 10.1115/1.2899196
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The continuous time deterministic optimal preview control algorithm is applied to the lateral guidance of a vehicle for an automated highway. In the lateral guidance problem, the front wheel steering angle of the vehicle is controlled so that the vehicle follows the center for a lane with small tracking error and maintains good ride quality simultaneously. A preview control algorithm is obtained by minimizing a quadratic performance index which includes terms representing the passenger ride quality as well as the lateral tracking error, each of these terms is multiplied by a frequency dependent weight. This design method is known as a frequency shaped linear quadratic (FSLQ) optimal control approach. It permits incorporating frequency domain design specifications such as high frequency robustness and ride quality in the optimal controller design. It is shown that the optimal preview control law consists of a feedback control term and two feedforward control terms. The feedback term is exactly the same as that of traditional LQ control algorithm. The feedforward preview control action significantly improves the tracking performance and ride quality. Frequency-domain analyses, as well as numerical simulation results, show the improvements achieved by using the preview control algorithm in both the frequency and time domains.
    keyword(s): Vehicles , Highways , Control algorithms , Errors , Feedback , Feedforward control , Design , Design methodology , Optimal control , Weight (Mass) , Control equipment , Computer simulation , Frequency-domain analysis , Robustness AND Wheels ,
    • Download: (779.5Kb)
    • Show Full MetaData Hide Full MetaData
    • Get RIS
    • Item Order
    • Go To Publisher
    • Price: 5000 Rial
    • Statistics

      Preview Control for Vehicle Lateral Guidance in Highway Automation

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/111625
    Collections
    • Journal of Dynamic Systems, Measurement, and Control

    Show full item record

    contributor authorHuei Peng
    contributor authorMasayoshi Tomizuka
    date accessioned2017-05-08T23:40:50Z
    date available2017-05-08T23:40:50Z
    date copyrightDecember, 1993
    date issued1993
    identifier issn0022-0434
    identifier otherJDSMAA-26200#679_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/111625
    description abstractThe continuous time deterministic optimal preview control algorithm is applied to the lateral guidance of a vehicle for an automated highway. In the lateral guidance problem, the front wheel steering angle of the vehicle is controlled so that the vehicle follows the center for a lane with small tracking error and maintains good ride quality simultaneously. A preview control algorithm is obtained by minimizing a quadratic performance index which includes terms representing the passenger ride quality as well as the lateral tracking error, each of these terms is multiplied by a frequency dependent weight. This design method is known as a frequency shaped linear quadratic (FSLQ) optimal control approach. It permits incorporating frequency domain design specifications such as high frequency robustness and ride quality in the optimal controller design. It is shown that the optimal preview control law consists of a feedback control term and two feedforward control terms. The feedback term is exactly the same as that of traditional LQ control algorithm. The feedforward preview control action significantly improves the tracking performance and ride quality. Frequency-domain analyses, as well as numerical simulation results, show the improvements achieved by using the preview control algorithm in both the frequency and time domains.
    publisherThe American Society of Mechanical Engineers (ASME)
    titlePreview Control for Vehicle Lateral Guidance in Highway Automation
    typeJournal Paper
    journal volume115
    journal issue4
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2899196
    journal fristpage679
    journal lastpage686
    identifier eissn1528-9028
    keywordsVehicles
    keywordsHighways
    keywordsControl algorithms
    keywordsErrors
    keywordsFeedback
    keywordsFeedforward control
    keywordsDesign
    keywordsDesign methodology
    keywordsOptimal control
    keywordsWeight (Mass)
    keywordsControl equipment
    keywordsComputer simulation
    keywordsFrequency-domain analysis
    keywordsRobustness AND Wheels
    treeJournal of Dynamic Systems, Measurement, and Control:;1993:;volume( 115 ):;issue: 004
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian