TR2017-135

Constraint-Enforcing Controller for Both Autonomous and Assisted Steering


    •  Kalabić, U., Berntorp, K., Di Cairano, S., "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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  • Research Area:

    Control

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.

 

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