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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    Title :

    Experimental results in robust lateral control of highway vehicles


    Contributors:
    Byrne, R.H. (author) / Abdallah, C.T. (author) / Dorato, P. (author)

    Published in:

    Publication date :

    1998


    Size :

    7 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    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 Archive | 1994


    Robust lateral control of hypersonic vehicles

    Heller, M. / Holzapfel, F. / Sachs, G. | AIAA | 2000