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Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint

Aksun-Güvenc, B. and Güvenc, L. and Odenthal, D. and Bünte, T. (2001) Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint. In: Proc. of ECC'2001, pp. 1198-1203. European Control Conference, 2001-09-04 - 2001-09-07, Porto, Portugal.

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Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. 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 operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability and a mixed sensitivity frequency domain bound. Simple, and therefore, easily implementable controller transfer functions with two design parameters are chosen for the two steering controller degrees of freedom. Using the parameter space method, the design specifications are mapped into the plane of controller parameters. The effectiveness of the final design is demonstrated using simulations.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2002,
Title:Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint
AuthorsInstitution or Email of Authors
Aksun-Güvenc, B.Istanbul Technical University
Güvenc, L.Istanbul Technical University
Journal or Publication Title:Proc. of ECC'2001
Page Range:pp. 1198-1203
Keywords:vehicle dynamics control, robust control, two degree of freedom
Event Title:European Control Conference
Event Location:Porto, Portugal
Event Type:international Conference
Event Dates:2001-09-04 - 2001-09-07
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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