Modelling and Control of an Automated Vehicle |
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| Authors: | Anthony B. Will Stanislaw H. ZÚ ak |
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| Affiliation: | a School of Electrical and Computer Engineering, West Lafayette, IN, USAb School of Electrical and Computer Engineering, West Lafayette, IN, USA. |
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| Abstract: | We present a vehicle model that includes the vehicle dynamics and a vehicle tire model. The model developed is then used for conducting steering analysis of an automated vehicle. We test the developed model on a step lane change maneuver and propose a model-reference based controller for remote control of a vehicle. Stability analysis of the closed-loop system using die Lyapunov approach is included. |
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