Steering controller for simulated driver in dSPACE ASM
In this project, an optimal tracking (Linear Quadratic Tracker) controller is developed for automatic steering of a vehicle using a DC motor. The objective is to track a reference signal for the steering wheel angle (and therefore, the vehicle trajectory) in simulation real-time. The vehicle model used is Automotive Simulation Models (ASM) by dSPACE and the developed controller is shown to improve upon the performance of the in-built driver model.