Mahony, Robert; Atif, Muhammad; Trumpf, Jochen
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]
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