A lateral controller design for active 2WS (Two-Wheel Steering) vehicles in ITS (Intelligent Transportation Systems) applications is presented. Fast. the vehicle dynamics for typical lateral maneuvers are rigorously described by Newton's formulation. Next, based on a linear perturbed model, a robust controller via mu-synthesis is designed. Due to the characteristics of D-K iteration, the resulting high-order controller has to be reduced for implementation. Then the frequency- and time-domain responses of the robust controller are extensively evaluated through numerical simulations. Further, performance comparisons are presented between full-order controller and reduced-order controller. Finally, the automated steering control presented is shown to be robust to the prescribed levels of uncertainty for highway maneuvers.
Controller design and analysis for automatic steering of passenger cars
Regelungsentwurf und Regelungsanalyse der automatischen Fahrzeuglenkung von Personalkraftwagen
Mechatronics ; 12 , 3 ; 427-446
2002
20 Seiten, 11 Bilder, 3 Tabellen, 18 Quellen
Aufsatz (Zeitschrift)
Englisch
POWER STEERING FOR PASSENGER CARS
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AUTOMATIC TRANSMISSIONFOR PASSENGER CARS
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