5. Nonlinear Control of Cars

Chapter 5 focuses on the high level nonlinear control methods for cars (ground vehicles). The main tasks are path design, control algorithm development and control realization. These steps are demonstrated in the frame of the development of a collision avoidance system (CAS). From the large set of path design methods, the principle of elastic band is chosen. The car can be modeled by full (non-affine) or simplified (input affine) nonlinear models. Two nonlinear control methods are presented, the differential geometric approach (DGA), known as input-output linearization, and the nonlinear predictive control. For state estimation, Kalman filters and measurements of two antenna GPS and Inertial Measurement Unit (IMU) are used. The methods are illustrated through simulation results. Two software approaches are presented for the realization of the control algorithms. The first uses the MATLAB Compiler converting the whole control system to standalone program running under Windows or Linux. The second uses MATLAB/Simulink and Real-Time Workshop (RTW) to convert the control system for target processors.