An optimization approach is used to design a velocity-adaptive, lateral controller to meet requirements pertaining to lateral-position tracking accuracy, robustness, and ride comfort. The resulting nonlinear controller required fullstate feedback and thus an observer, which was nonlinear with velocity, was included. The observer/controller compensator was implemented using a 16-bit microcomputer and evaluated in a laboratory study wherein vehicle lateral dynamics were simulated on an analog computer. Excellent lateral control - close tracking (lateral-position error) less than 0.024 m in curve tracking), a good insensitivity to disturbance forces and probable ride comfort - resulted. The selected control algorithm was realized using some 5 % of the available computation time. Thus the microcomputer could also be employed for other control functions and vital-function monitoring.
On the optimal design of a vehicle lateral controller
Die optimale Auslegung eines observer-controller-Kompensators fuer seitliche Bewegungen eines Elektrofahrzeuges
34th IEEE Vehicular Technology Conf. ; Mai ; 291-298
1984
8 Seiten, 11 Bilder, 13 Quellen
Aufsatz (Konferenz)
Englisch
On the optimal design of an automotive lateral controller
Tema Archiv | 1988
|Controller design for improving lateral vehicle dynamic stability
Tema Archiv | 2001
|Controller design for improving lateral vehicle dynamic stability
Online Contents | 2001
|Controller design for improved lateral vehicle dynamic stability
Kraftfahrwesen | 2001
|Design of a Lateral Controller for Cooperative Vehicle Systems
SAE Technical Papers | 1995
|