This paper discusses about a LQR controller as optimal regulator, which is suited for state variable regulation and tracking as a full state feed back controller, Zero side slip (ZSS) and zero yaw rate (ZYR) compensators. ZSS and ZYR are controllers that force the linear system to regulate the steady state response of side slip state variable (have linear relation with lateral velocity) and yaw rate state variable respectively in linear model. As dynamic models, a 2 DOF linear handling model with yaw rate and lateral velocity variables is used as controller model, and a 3 DOF nonlinear model with yaw rate, lateral velocity and roll variables and CALSPAN tire coefficients is proposed for simulations.Results show that in spite of LQR controller, which yields suitable results in both linear and nonlinear models and both regulation and tracking strategies, zero steady state compensators (ZSS and ZYR) could not yield acceptable results in nonlinear model that simulates real response of vehicle; in addition not to have flexible nature (like LQR) to perform a multi purpose control strategies.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Comparison between Zero Steady State Compensators and Optimal Control Regulators in a 4WS vehicle


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    SAE 2002 Automotive Dynamics & Stability Conference and Exhibition ; 2002



    Publication date :

    2002-05-07




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English


    Keywords :


    A comparison between zero steady state compensators and optimal control regulators in a 4WS vehicle

    Siahkalroudi,V.N. / Naraghim,M. / Amirkabir Univ.,IR | Automotive engineering | 2002


    2002-01-1591 A Comparison between Zero Steady State Compensators and Optimal Control Regulators in a 4WS vehicle

    Siahkalroudi, V. N. / Naraghi, M. / Society of Automotive Engineers | British Library Conference Proceedings | 2002


    Frequency Based Optimal Design of FIR Zero-Phase Filters and Compensators for Robust Repetitive Control (AAS 05-263)

    Panomruttanarug, B. / Longman, R. W. / American Astronautical Society | British Library Conference Proceedings | 2006


    Steady-State Analysis of PWM DC-to-DC Regulators

    Femia, N. | Online Contents | 2003


    Steady-state analysis of PWM DC-to-DC regulators

    Femia, N. / Spagnuolo, G. / Vitelli, M. | IEEE | 2003