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Nonlinear path following control of non‐holonomic vehicles with the human as actuator in a parking application
Author(s) -
Kochem M.,
Isermann R.
Publication year - 2004
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.900
Subject(s) - actuator , holonomic , control (management) , nonlinear system , track (disk drive) , control engineering , path (computing) , control system , computer science , engineering , holonomic constraints , control theory (sociology) , artificial intelligence , physics , electrical engineering , classical mechanics , quantum mechanics , programming language , operating system
This paper describes and compares several controllers for precision tracking control of non‐holonomic vehicles at low speeds with the driver as actuator in the control loop. A possible application for the developed controllers is a driver assistance system for supporting the driver in a backward parking procedure. The system, designed as a comfort feature, provides the driver with optical and acoustical information through an appropriate human–machine interface (HMI) on how to steer the vehicle into the previously scanned parking spot. Without having an active steering in the vehicle, the driver remains in full control over the vehicle's motion. This paper outlines the main ideas and concepts of the system and focusses on the developed control structures. Finally, experimental results underline the validity of the chosen approach. Copyright © 2004 John Wiley & Sons, Ltd.