Controlling the longitudinal dynamics of a vehicle using sensor based haptic feedback
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Mahony, Robert; Atif, Muhammad; Trumpf, Jochen
Description
This paper considers a sensor based haptic feedback law for control of the longitudinal dynamics of a vehicle. The environment impedance is implemented in parallel as force feedback to the vehicle throttle as well as haptic feedback to the accelerator pedal. A non-linear gain is used in the feedback design to introduce a singularity in the energy dissipation relationship collocated with an observed obstacle. A consequence of this is that the vehicle would theoretically have to dissipate...[Show more]
Collections | ANU Research Publications |
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Date published: | 2008 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/30194 |
Source: | Proceedings of IEEE Conference on Decision and Control 2008 |
DOI: | 10.1109/CDC.2008.4738612 |
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File | Description | Size | Format | Image |
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01_Mahony_Controlling_the_longitudinal_2008.pdf | 108.76 kB | Adobe PDF | Request a copy | |
02_Mahony_Controlling_the_longitudinal_2008.pdf | 355.26 kB | Adobe PDF | Request a copy | |
03_Mahony_Controlling_the_longitudinal_2008.pdf | 243.1 kB | Adobe PDF | Request a copy | |
04_Mahony_Controlling_the_longitudinal_2008.pdf | 221.86 kB | Adobe PDF | Request a copy | |
05_Mahony_Controlling_the_longitudinal_2008.pdf | 108.68 kB | Adobe PDF | Request a copy |
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