Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection

This paper studies the shared-control problem for the kinematic model of a group of rear-wheel drive cars in a (possibly) dynamic (i.e., time-varying) environment. The design of the shared-controller is based on measurements of distances to obstacles, angle differences, and the human input. The shar...

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Main Authors: Jingjing Jiang, Alessandro Astolfi
Format: Default Article
Published: 2017
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Online Access:https://hdl.handle.net/2134/36751
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spelling rr-article-92270452017-04-24T00:00:00Z Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection Jingjing Jiang (5731739) Alessandro Astolfi (7120631) Other engineering not elsewhere classified Control constraints Driver assistance Nonlinear control Shared-control Engineering not elsewhere classified This paper studies the shared-control problem for the kinematic model of a group of rear-wheel drive cars in a (possibly) dynamic (i.e., time-varying) environment. The design of the shared-controller is based on measurements of distances to obstacles, angle differences, and the human input. The shared-controller is used to guarantee the safety of the car when the driver behaves “dangerously.” Formal properties of the closed-loop system with the shared-controller are presented through a Lyapunov-like analysis. In addition, we consider uncertainties in the dynamics and prove that the shared-controller is able to help the driver drive the car safely even in the presence of disturbances. Finally, the effectiveness of the controller is verified by two case studies: traffic at a junction and at a roundabout. 2017-04-24T00:00:00Z Text Journal contribution 2134/36751 https://figshare.com/articles/journal_contribution/Shared-control_for_a_rear-wheel_drive_car_Dynamic_environments_and_disturbance_rejection/9227045 CC BY-NC-ND 4.0
institution Loughborough University
collection Figshare
topic Other engineering not elsewhere classified
Control constraints
Driver assistance
Nonlinear control
Shared-control
Engineering not elsewhere classified
spellingShingle Other engineering not elsewhere classified
Control constraints
Driver assistance
Nonlinear control
Shared-control
Engineering not elsewhere classified
Jingjing Jiang
Alessandro Astolfi
Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection
description This paper studies the shared-control problem for the kinematic model of a group of rear-wheel drive cars in a (possibly) dynamic (i.e., time-varying) environment. The design of the shared-controller is based on measurements of distances to obstacles, angle differences, and the human input. The shared-controller is used to guarantee the safety of the car when the driver behaves “dangerously.” Formal properties of the closed-loop system with the shared-controller are presented through a Lyapunov-like analysis. In addition, we consider uncertainties in the dynamics and prove that the shared-controller is able to help the driver drive the car safely even in the presence of disturbances. Finally, the effectiveness of the controller is verified by two case studies: traffic at a junction and at a roundabout.
format Default
Article
author Jingjing Jiang
Alessandro Astolfi
author_facet Jingjing Jiang
Alessandro Astolfi
author_sort Jingjing Jiang (5731739)
title Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection
title_short Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection
title_full Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection
title_fullStr Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection
title_full_unstemmed Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection
title_sort shared-control for a rear-wheel drive car: dynamic environments and disturbance rejection
publishDate 2017
url https://hdl.handle.net/2134/36751
_version_ 1778074096077111296