@article{Jiang:2017:10.1109/THMS.2017.2693231,
author = {Jiang, J and Astolfi, A},
doi = {10.1109/THMS.2017.2693231},
journal = {IEEE Transactions on Human-Machine Systems},
pages = {723--734},
title = {Shared-control for a rear-wheel drive car: dynamic environments and disturbance rejection},
url = {http://dx.doi.org/10.1109/THMS.2017.2693231},
volume = {47},
year = {2017}
}

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TY  - JOUR
AB  - This paper studies the shared-control problem for the kinematic model of a group of rear-wheel drive cars in a (possibly) dynamic (i.e., time-varying) environment. The design of the shared-controller is based on measurements of distances to obstacles, angle differences, and the human input. The shared-controller is used to guarantee the safety of the car when the driver behaves “dangerously.” Formal properties of the closed-loop system with the shared-controller are presented through a Lyapunov-like analysis. In addition, we consider uncertainties in the dynamics and prove that the shared-controller is able to help the driver drive the car safely even in the presence of disturbances. Finally, the effectiveness of the controller is verified by two case studies: traffic at a junction and at a roundabout.
AU  - Jiang,J
AU  - Astolfi,A
DO  - 10.1109/THMS.2017.2693231
EP  - 734
PY  - 2017///
SN  - 2168-2291
SP  - 723
TI  - Shared-control for a rear-wheel drive car: dynamic environments and disturbance rejection
T2  - IEEE Transactions on Human-Machine Systems
UR  - http://dx.doi.org/10.1109/THMS.2017.2693231
UR  - http://hdl.handle.net/10044/1/46027
VL  - 47
ER  - 

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