Browse Publications Technical Papers 2007-01-3579
2007-08-05

Experimental Study on DGPS/RTK Based Path Following System Using Backstepping Control Methodology 2007-01-3579

This paper mainly focuses on a lateral control law for pre-given path following which is developed by using the backstepping control design methodology. The position information of the vehicle is obtained by Real Time Kinematic DGPS, and the yaw rate and side-slip angle used in controller are estimated by Kalman estimator. To show the performance of the proposed controller under different speed and various path curvature conditions, the results are given through experiments which are executed on proving ground especially designed for high maneuvering test of which minimum radius of curvature is about 60 m.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Preview Document Add to Cart
Members save up to 16% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:
TECHNICAL PAPER

Incorporating INS with Carrier-Phase Differential GPS for Automatic Steering Control of a Farm Tractor

1999-01-2851

View Details

TECHNICAL PAPER

A New Laboratory Device for Passenger Car Safety Studies

640033

View Details

TECHNICAL PAPER

A Comparison Study between PC-Crash Simulation and Instrumented Handling Maneuvers

2011-01-1121

View Details

X