Vehicle lateral control using a double integrator control strategy

Abstract

In this paper, a bang-bang control algorithm developed for double integrator systems is applied to the problem of automated vehicle steering control. This research is part of an on-going project on vehicle control using scale-model vehicle simulator. The controller uses pre-determined, piecewise constant control signals to shape the lateral position and yaw angle responses. Simulation results demonstrate that the proposed control algorithm maintains acceptable performance despite the unmodeled dynamics.