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Robust two degree of freedom vehicle steering controller design

Aksun-Güvene, B. and Bünte, T. and Odenthal, B. and Güvenc L., (2001) Robust two degree of freedom vehicle steering controller design. American Control Conference, 2001-06-25 - 2001-06-27, Arlington, VA, USA.

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Abstract

Robust steering control based on a specific two degree of freedom control structure is used here for improving the yaw dynamics of a passenger car. The usage of an auxiliary steering actuation system for imparting the corrective action of the steering controller is assumed. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the boundary of the operating domain of the vehicle. The design is carried out by finding the region in controller parameter plane where Hurwitz stability and a mixed sensitivity frequency domain constraint are simultaneously satisfied. A velocity based gain scheduling type implementation is used. Moreover, the steering controller has a fading effect that leaves the low frequency driving task to the driver, intervening only when necessary. The effectiveness of the final design is demonstrated using linear and nonlinear simulations.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2002,
Title:Robust two degree of freedom vehicle steering controller design
Authors:
AuthorsInstitution or Email of Authors
Aksun-Güvene, B.Istanbul Technical University
Bünte, T.UNSPECIFIED
Odenthal, B.UNSPECIFIED
Güvenc L., Istanbul Technical University
Date:2001
Status:Published
Keywords:vehicle dynamics control, disturbance observer, parameter space method, robust control
Event Title:American Control Conference
Event Location:Arlington, VA, USA
Event Type:international Conference
Event Dates:2001-06-25 - 2001-06-27
Organizer:Proc. of ACC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Flexible Aircraft (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:16 Sep 2005
Last Modified:12 Dec 2013 20:02

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