Vehicle lateral dynamics are affected by vehicle mass, longitudinal velocity, vehicle inertia, and the cornering stiffness of the tires. All of these parameters are subject to variation, even over the course of a single trip. Therefore, a practical lateral control system must guarantee stability, and hopefully ride comfort, over a wide range of parameter changes. This article describes a robust controller that theoretically guarantees stability over a wide range of parameter changes. The performance of the robust controller is then evaluated in simulation as well as on a test vehicle. Test results for experiments conducted on an instrumented track are presented, comparing the robust controller to a PID controller that was tuned on the vehicle.


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    Titel :

    Experimental results in robust lateral control of highway vehicles


    Beteiligte:
    Byrne, R.H. (Autor:in) / Abdallah, C.T. (Autor:in) / Dorato, P. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1998


    Format / Umfang :

    7 Seiten




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Experimental Results in Robust Lateral Control of Highway Vehicles

    Byrne, R. H. / Abdallah, C. T. / Dorato, P. | British Library Online Contents | 1998


    Robust Lateral Control of Highway Vehicles

    Byrne, R. / Abdallah, C. / IEEE; Industrial Electronics Society | British Library Conference Proceedings | 1994


    Robust lateral control of highway vehicles

    Byrne, R.H. / Abdallah, C. | Tema Archiv | 1994



    Neural networks approaches for lateral control of autonomous highway vehicles

    Kornhauser,A.L. / Princeton Univ.,US | Kraftfahrwesen | 1991