Abstract
This paper is concerned with introducing a safety controller which forces the motion energy of driving vehicles to a desied level without any excessive transient responses as well as vehicle speed regulation. So those outputs by applying the controller to vehicle driving figure out to exhibit overshooting-free performance in tracking the objective values. It is also focused on description of the safety controller so that the vehicle outputs are regulated to follow to the prescribed desired values without osciliation while the closed system is kept stable. The feedback and the feedforward gains in structures of the safety controller in form of second degree freedom are determined from some requirements to satisfy such conditions as safety following achievement and closed loop being stable.
