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Lane-keeping control of automated vehicles with feedback delay: Nonlinear analysis and laboratory experiments by Vörös, Illés (author);Takács, Dénes (author) is a Engineering article available to read on EtoBox.

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The feedback control of automated lane-keeping of passenger cars is analyzed in this paper. The calculations are based on the single-track vehicle model with the consideration of steering system dynamics. A linear feedback controller is used to control the lateral dynamics, while taking into account feedback delay and the effects of the lower-level steering controller. Subcritical Hopf bifurcations are detected along the linear stability limits and the emerging branches of periodic orbits are followed using numerical continuation. It is shown that low amplitude unstable limit cycles exist around the stable equilibrium of straight-line motion for certain parameter ranges. Based on the limit cycle amplitudes, safe and unsafe zones of stabilizing control gains are specified. The unsafe control gain zones within the linearly stable domain are also identified under laboratory conditions using small-scale experiments on a conveyor belt. The theoretical and the practical results show good accordance with respect to the domain of attraction of the straight-line motion.

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Author

Vörös, Illés (author);Takács, Dénes (author)

Publisher

Elsevier BV

Published

2022

Language

EN

Field

Engineering (Physical Sciences)