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Lateral Control Of Commuter Buses

Author

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  • Hingwe, Pushkar
  • Tomizuka, Masayoshi

Abstract

This report presents two approaches to the design of the lateral controllers for commuter buses based on Sliding Mode Control (SMC). The objective of the control is to track the lane centerline. The first controller uses the sensor output which is a combination of yaw and lateral error. The second controller achieves tracking objective by providing a yaw rate to the vehicle so as to keep the lateral error dynamics stable. The two controllers are compared by performing simulations for a range of parameters.

Suggested Citation

  • Hingwe, Pushkar & Tomizuka, Masayoshi, 1995. "Lateral Control Of Commuter Buses," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt8v96f9md, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt8v96f9md
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    File URL: https://www.escholarship.org/uc/item/8v96f9md.pdf;origin=repeccitec
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    Cited by:

    1. Hingwe, Pushkar & Wang, Jen-Yu & Tai, Meihua & Tomizuka, Masayoshi, 2003. "Lateral Control of Heavy Vehicles for Automated Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3t52767t, Institute of Transportation Studies, UC Berkeley.

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