Stability of turning rate guidance and control laws for autonomous vehicles
Papoulias, Fotis A.
Schmidt, Louis V.
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The problem of turning rate guidance and control for autonomous vehicles is analyzed. Control design is based on the dynamics equations of motion for lateral motions, sway and yaw, while guidance design is based on the kinematics. Analytical conditions are derived that enable the two schemes to operate simultaneously without loss of stability. The results are verified by direct numerical integrations of the equations of motion.
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