Acceleration, Braking, and Steering Controller for a Polaris Gem e2 Vehicle

This paper discusses both software and physical implementation of actuators to control the acceleration, braking, and steering of a Polaris Gem e2 vehicle. A 2 degree of freedom (DOF) kinematic car model is utilized to design and simulate general controllers for lane keeping and speed control. Lane keeping is tested using both proportional integral derivative (PID) and sliding mode to control the steering angle. Velocity control is tested using a derived dynamic model for the longitudinal motion of the car. For velocity control, PID is compared to an adaptive control method.