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Robust vehicle steering control design based on the disturbance observer

Bünte, T. and Odenthal, D. and Aksun-Güvenc, B. and Güvenc, L. (2001) Robust vehicle steering control design based on the disturbance observer. In: Preprints of IFAC, 1, pp. 107-116. 3rd IFAC Workshop on Advances in Automotive Control,, March 28-30, 2001, 2001-03-28 - 2001-03-30, Karlsruhe.

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Abstract

A robust steering controller is introduced for improving the yaw dynamics of a passenger car. A specific two degree of freedom control architecture known as the disturbance observer is adapted to the vehicle yaw dynamics control problem and shown to robustly improve performance. The relevant design specifications are formulated in terms of eigenvalues (T-stability) and in frequency domain as bounds on weighted sensitivity and complementary sensitivity functions (B-stability). The parameter space method is used to map the specifications for controller design. A Popov criterion based nonlinear stability analysis is also carried out to prove absolute stability in the presence of actuator rate limitation. Simulations are used to demonstrate the effectiveness of the final design.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2002,
Title:Robust vehicle steering control design based on the disturbance observer
Authors:
AuthorsInstitution or Email of Authors
Bünte, T.UNSPECIFIED
Odenthal, D.UNSPECIFIED
Aksun-Güvenc, B.Istanbul Technical University
Güvenc, L.Istanbul Technical University
Date:2001
Journal or Publication Title:Preprints of IFAC
Volume:1
Page Range:pp. 107-116
Status:Published
Keywords:vehicle dynamics control, disturbance observer, parameter space method, robust control
Event Title:3rd IFAC Workshop on Advances in Automotive Control,, March 28-30, 2001
Event Location:Karlsruhe
Event Type:international Conference
Event Dates:2001-03-28 - 2001-03-30
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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