IEEE - Institute of Electrical and Electronics Engineers, Inc. - On the Stability and Robustness of Hierarchical Vehicle Lateral Control with Inverse/Forward Dynamics Quasi-Cancellation

Author(s): Riccardo Dona ; Gastone Pietro Rosati Papini ; Mauro Da Lio ; Luca Zaccarian
Sponsor(s): IEEE Vehicular Technology Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1
ISSN (Electronic): 1939-9359
ISSN (Paper): 0018-9545
DOI: 10.1109/TVT.2019.2941379
Regular:

This paper studies a control architecture for vehicle lateral dynamics based on the execution of optimal trajectories via feedforward inverse model control. The focus here is on assessing the... View More

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