Controlling the Lateral Motion of a Vehicle Using State Vector Feedback Control

• Course Name: Modern Control I (Master Studies)
• October 2018 - November 2018

This mini-project investigates the lateral dynamics of a vehicle using the bicycle model. The objective is to analyze the open-loop and closed-loop behavior of the system under steering inputs and to design state-feedback control and state estimation strategies for lateral vehicle control.

• Model and simulate the open-loop lateral vehicle dynamics using the bicycle model under different steering inputs.
• Design and implement a state-feedback controller for lateral vehicle control.
• Design a full-order state observer to estimate unmeasured states in closed-loop operation.
• Evaluate the robustness of the control system in the presence of disturbances and measurement noise.