Abstract
A new method to stabilize a vehicle, which is autonomously guided on the road by an optical sensor, is presented. Since the behavior of a vehicle is nonlinear and contains mutual couplings in the dynamical variables, the design of the algorithms for lateral control is based on the universal valid principle of feedback linearization. This method works independently from any operating point and, thus, a high degree of accuracy and free pole assignment for the overall system is provided. The design of the control system is based on absolute angular velocities. A strategy transforming these variables into a relative system by an adequate transformation is described. A linear behavior with free pole assignment can be imposed on the overall system and disturbances are handled by an integral term in the control algorithm. Therefore stability and convergence can be guaranteed even in case of constant disturbances.
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