Shared-control for the kinematic model of a rear-wheel drive car

Jiang, Jingjing; Astolfi, Alessandro

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Shared-control for the kinematic model of a rear-wheel drive car

conference contribution

posted on 2019-02-04, 11:02 authored by Jingjing JiangJingjing Jiang, Alessandro Astolfi

This paper presents a shared-control algorithm for the kinematic model of a rear-wheel drive car, for which the set of feasible Cartesian positions is defined by a group of linear inequalities. The shared-control scheme is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the shared-control law.

History

School

Aeronautical, Automotive, Chemical and Materials Engineering

Department

Aeronautical and Automotive Engineering

Published in

2015 American Control Conference (ACC) 2015 American Control Conference (ACC)

Citation

JIANG, J. and ASTOLFI, A., 2015. Shared-control for the kinematic model of a rear-wheel drive car. Presented at the 2015 American Control Conference (ACC), Chicago, IL, USA, 1-3 July 2015, pp.1155-1160.

Publisher

IEEE © AACC

Version

AM (Accepted Manuscript)

Publication date

2015

Notes

© 2015 AACC. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.