We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Hybrid architecture for vehicle lateral collision avoidance.
- Authors
Ariola, Marco; De Tommasi, Gianmaria; Tartaglione, Gaetano; Amato, Francesco
- 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.
- Publication
IET Control Theory & Applications (Wiley-Blackwell), 2018, Vol 12, Issue 14, p1941
- ISSN
1751-8644
- Publication type
Article
- DOI
10.1049/iet-cta.2017.1387