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On the global dynamics of path-following control of automated passenger vehicles

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Bibliographic Details
Main Authors: Illés, Vörös, Gábor, Orosz, Dénes, Takács
Format: Book
Language:English
Published: Springer 2023
Subjects:
path-following control of passenger cars
automated passenger vehicles
Online Access:https://link.springer.com/article/10.1007/s11071-023-08284-2
https://dlib.phenikaa-uni.edu.vn/handle/PNK/7990
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spelling oai:localhost:PNK-79902023-04-17T04:24:38Z On the global dynamics of path-following control of automated passenger vehicles Illés, Vörös Gábor, Orosz Dénes, Takács path-following control of passenger cars automated passenger vehicles CC BY The nonlinear dynamics of the path-following control of passenger cars is analyzed in this paper. The effect of specific modeling aspects, such as tire deformation, steering dynamics, feedback delay and controller saturation, is considered. Possible equilibrium points and singularities in the state space are uncovered and analyzed for different vehicle model and controller designs. The equilibrium of stable path following is then analyzed in greater detail: The domains of stabilizing control gains are presented in stability charts and the basin of attraction of the equilibrium along the stable domain is approximated with the help of numerical continuation. Unsafe zones of control gains are highlighted, where the stable equilibrium is surrounded by low-amplitude unstable limit cycles. 2023-04-17T04:24:37Z 2023-04-17T04:24:37Z 2023 Book https://link.springer.com/article/10.1007/s11071-023-08284-2 https://dlib.phenikaa-uni.edu.vn/handle/PNK/7990 en application/pdf Springer
institution Digital Phenikaa
collection Digital Phenikaa
language English
topic path-following control of passenger cars
automated passenger vehicles
spellingShingle path-following control of passenger cars
automated passenger vehicles
Illés, Vörös
Gábor, Orosz
Dénes, Takács
On the global dynamics of path-following control of automated passenger vehicles
description CC BY
format Book
author Illés, Vörös
Gábor, Orosz
Dénes, Takács
author_facet Illés, Vörös
Gábor, Orosz
Dénes, Takács
author_sort Illés, Vörös
title On the global dynamics of path-following control of automated passenger vehicles
title_short On the global dynamics of path-following control of automated passenger vehicles
title_full On the global dynamics of path-following control of automated passenger vehicles
title_fullStr On the global dynamics of path-following control of automated passenger vehicles
title_full_unstemmed On the global dynamics of path-following control of automated passenger vehicles
title_sort on the global dynamics of path-following control of automated passenger vehicles
publisher Springer
publishDate 2023
url https://link.springer.com/article/10.1007/s11071-023-08284-2
https://dlib.phenikaa-uni.edu.vn/handle/PNK/7990
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score 8.891787

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