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Integration of Active Systems for a Global Chassis Control Design

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Figure

Figure 1.16 System identification: comparison with experimental FRF at 90 deg against different transfer function structures
Figure 1.18 Scheme representation of vehicle lateral deviation with respect reference path
Figure 1.27 Reference path modification according to the elastic band theory: external (F E X T i ) and internal (F I N T i ,i −1 ,F I N T i ,i +1 ) forces applied to the i-th node N i provokes a deformation u i
Figure 1.31 Controller scheme implemented on the prototype autonomous vehicle for path tracking control with PSA+FF and PSA+ISM strategies
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