@article{ref1,
title="Nonlinear-gain-optimized controller development and evaluation for automated emergency vehicle steering",
journal="International journal of vehicle design",
year="2000",
author="Smith, Deborah and Benton, R. and Starkey, J",
volume="24",
number="1",
pages="79-99",
abstract="Recent research in Advanced Vehicle Control Systems (AVCS) has focused on automated lateral and headway control during low-g manoeuvres. However, most emergencies involve high-g manoeuvres where vehicle performance becomes nonlinear. Robust controllers need to be developed that can react to these emergencies. This paper investigates development of a nonlinear-gain-optimized (NGO) controller for automated lateral control during emergencies. The strategy is to use a linear model to define the state model and a nonlinear model to optimize feedback gains for high-g emergency manoeuvres. Performance of the NGO controller is presented at 15 and 30 m/s for a step lane change, a double lane change, and inward and outward lane changes initiated during a non-banked 0.1 g turn. The NGO controller's robustness is investigated with respect to changes in tyre parameters and passenger numbers.   <p>Language: en</p>",
language="en",
issn="0143-3369",
doi="",
url="http://dx.doi.org/"
}