Consider the following design questions: 1. For which values of v is the system
ID: 2303862 • Letter: C
Question
Consider the following design questions: 1. For which values of v is the system controllable? 2. With lateral position of the car y as an output, is the linearised system observable? What about with the trailer angle you explain these results? as an output? Can 3. Design and evaluate controllers that perform lane-change manoeuvres and reverse-park (i.e. lane change in reverse) with a trailer attached 4. Can your system drive the slalom manoeuvre forwards and in reverse? 5. What happens if you apply your lateral controller from Part 2 while moving forward and reversing with a trailer? Can you explain this?Explanation / Answer
1. A state of a system is said to be controllable if and only if the state value can be varied from any starting value to any finite value in finite time by application of an unbound input, then the state is said to be controllable.
2.Yes its observable if y can be measured. Yes with trailer angle its observable. The system is operable to calculate a calculated trailer angle based at least in part on calculations involving the parameters and a steering angle of the vehicle. Responsive to processing of images captured by the camera, the system is operable to determine a determined trailer angle of the trailer relative to a longitudinal axis of the vehicle. Responsive to the determined trailer angle and the calculated trailer angle, the system is operable to determine a degree of offset between the calculated trailer angle and the detected trailer angle. So with these factors , with both y and trailer angle as output, the system is observable.
4. Yes