TR2017-135
Constraint-Enforcing Controller for Both Autonomous and Assisted Steering
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- "Constraint-Enforcing Controller for Both Autonomous and Assisted Steering", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA.2017.8062779, August 2017.BibTeX TR2017-135 PDF
- @inproceedings{Kalabic2017aug,
- author = {Kalabić, Uroš and Berntorp, Karl and Di Cairano, Stefano},
- title = {Constraint-Enforcing Controller for Both Autonomous and Assisted Steering},
- booktitle = {Conference on Control Technology and Applications (CCTA)},
- year = 2017,
- month = aug,
- doi = {10.1109/CCTA.2017.8062779},
- url = {https://www.merl.com/publications/TR2017-135}
- }
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- "Constraint-Enforcing Controller for Both Autonomous and Assisted Steering", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA.2017.8062779, August 2017.
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MERL Contact:
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Research Area:
Abstract:
This paper considers the design of a controller and a constraint-enforcement scheme for application to dualmode, autonomous and manual steering systems. A tracking controller is designed to track a desired pinion angle during autonomous operation, and to provide assistive torque during manual operation. The tracking controller is designed using H-infinity synthesis with tracking made possible via the solution to a full-information output regulation problem. A reference governor scheme is implemented in order to enforce constraints. Numerical simulations are presented corresponding to an aggressive step-steer maneuver in autonomous mode and show strict constraint enforcement.
Related News & Events
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NEWS Uros Kalabic spoke on reference governors at the MSU Mechanical Engineering Seminar Date: February 12, 2019
Where: Michigan State University
MERL Contacts: Scott A. Bortoff; Stefano Di Cairano; Abraham Goldsmith
Research Areas: Control, Dynamical SystemsBrief- Uros Kalabic, of MERL's Control and Dynamical Systems group, gave a talk at the Michigan State University Mechanical Engineering Seminar. The talk, entitled "Reference governors: Industrial applications and theoretical advances," covered some of the exciting research being done at MERL on reference governors and briefly described MERL's other research areas. The abstract of the talk can be found via the link below.