Comparison of linear and non-linear control schemes for collision avoidance in heavy road vehicles
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Cites background from "Comparison of linear and non-linear..."
...So that, the study and knowledge of the systems to be controlled is vital to decide if is necessary to implement a nonlinear controller, or finally a linear control operates in the same performance range offered by the former [5, 6, 7]....
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References
15,545 citations
"Comparison of linear and non-linear..." refers methods in this paper
...In this paper, a collision avoidance algorithm has been proposed using the Lyapunov theory by considering the pneumatic brake system dynamics, the longitudinal vehicle dynamics such as dynamic load transfer, brake force distribution between the wheels and the coefficient of adhesion at the tire-road interface....
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...In order to obtain the control equation, the direct theorem of Lyapunov [13] was used....
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...In this section, the algorithm for calculating the braking force is developed based on the Lyapunov direct method....
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...In this paper, the Lyapunov theory was used to develop a collision avoidance algorithm for a heavy commercial road vehicle....
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...Let us define a positive definite function, that is, the Lyapunov candidate function as V (e) = e(t)·Pe(t), (8) where P = 1 2 [ p1 0 0 p2 ] , where p1 and p2 are positive scalars....
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210 citations
"Comparison of linear and non-linear..." refers background in this paper
...However, in case of heavy commercial road vehicles, steering in an emergency (particularly at higher speeds) may lead to roll-over because of the lower static roll-over threshold [9]....
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123 citations
"Comparison of linear and non-linear..." refers background in this paper
..., collision avoidance by steering is more efficient than braking at higher speeds [8]....
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68 citations
42 citations
"Comparison of linear and non-linear..." refers methods in this paper
...The formulation of the controller for CAS based on the Lyapunov theory is motivated by the fact that a similar approach has been followed in developing a longitudinal controller for vehicles in a platoon [4] and to control the brake system [5], [6]....
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