Modern Control Aspects of Automatically Steered Vehicles.

摘要

In the study of automatically steered rubber tired vehicles,little emphasis in the past has been placed on the steering control laws. The report examines the control law problem from the state variable point of view and it is shown that,except for possibly one velocity,the system is both controllable and observable allowing arbitrary system dynamics. It is also shown how optimal control theory may be used to select the feedback gains in order to minimize a cost function containing the square of the vehicle lateral acceleration. (Author)