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The linear model used for the steer controller design is described by the block diagram in Figure lat_block.jpg. Symbols represent
- U(s): desired lateral distance from the path which is always 0.
- C(s) = c / s: constant compensation term of the controller.
- M(s) = m / s: constant term that accounts for the error of the model used to determine the compensation.
- D(s) = d / s^2: disturbance term that models the curve in the path.
- w: the wheelbase.
- alpha: the steer factor.
- delta: steer input in (-100, 100).
- omega: direction of the vehicle in radians, from the x1 axis, positive counter-clockwise.
- X(s): controlled variable, the lateral distance from the path.
The transfer function of the system is
X(s) = (-v0 * d * w)
DOCUMENTATION EXPANSION
These are likely to be expanded and moved on the main wiki page at some point.
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