This paper deals with the controller design problem for automatic steering of vehicles. The nonlinear and uncertain lateral motion model of the vehicle is considered. The sliding mode controllers, with LQ optimal sliding surface and with guaranteed cost sliding surface, are proposed such that the lateral velocity and the yaw rate are stabilized. The robustness of the controllers is verified by comparing the simulation results.
Robust Controller Design for Automatic Steering of Vehicles
Sae Technical Papers
Automotive and Transportation Technology Congress and Exposition ; 2001
2001-10-01
Conference paper
English
Robust controller design for automatic steering of vehicles
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