부산대학교 도서관

An automatic control system is described to control the lateral and longitudinal position of a bus with respect to a track. A sensor system, based on active inductive wires and wheel pulse counters measures the lateral displacement and the longitudinal position. The bus has 4 wheels. Each wheel can be controlled independently, both its torque and its steering angle. Simulations based on a nonlinear model of the dynamics of the bus indicate the accuracy that can be achieved.