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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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 |
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Other engineering not elsewhere classified Control constraints Driver assistance Nonlinear control Shared-control Engineering not elsewhere classified |
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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 |
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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. |
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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 |
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https://hdl.handle.net/2134/36751 |
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