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 controller, which is nonlinear with velocity, requires full-state feedback and thus an observer is 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, i.e. close tracking (with absolute value of lateral-position error below 0.024 m in curve tracking), good sensitivity to disturbance forces, and probable ride comfort resulted. The selected control algorithm was realized using some 5% of the available computation time, thus allowing the microcomputer to be used for other control functions and vital-function monitoring.


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    Title :

    On the optimal design of an automotive lateral controller


    Additional title:

    Ueber den optimalen Entwurf eines lateralen Controllers fuer Automobile


    Contributors:
    Fenton, R.E. (author) / Selim, I. (author)

    Published in:

    Publication date :

    1988


    Size :

    6 Seiten, 13 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    On the optimal design of a vehicle lateral controller

    Selim, I. / Fenton, R.E. | Tema Archive | 1984


    An automotive lateral controller based in generalized predictive control theory

    Horiuchi,S. / Tamatsukuri,T. / Nohtomi,S. et al. | Automotive engineering | 2000


    An automotive lateral controller based on generalized predictive control theory

    Horiuchi, S. / Tamatsukuri, T. / Nohtomi, S. | Tema Archive | 2000