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Robust Vehicle Steering Control Design Based on the Disturbance Observer

Bünte, T. and Odenthal, D. and Güvenc, B.A. and Güvenc, L. (2002) Robust Vehicle Steering Control Design Based on the Disturbance Observer. Annual Reviews in Control, 26, pp. 139-149. ISSN 1367-5788.

Full text not available from this repository.

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 (Gamma-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 robust absolute stability (Theta-stability) in the presence of actuator rate limitation. Simulations are used to demonstrate the effectiveness of the final design.

Document Type:Article
Additional Information: LIDO-Berichtsjahr=2003,
Title:Robust Vehicle Steering Control Design Based on the Disturbance Observer
Authors:
AuthorsInstitution or Email of Authors
Bünte, T.UNSPECIFIED
Odenthal, D.UNSPECIFIED
Güvenc, B.A.UNSPECIFIED
Güvenc, L.UNSPECIFIED
Date:2002
Journal or Publication Title:Annual Reviews in Control
Refereed publication:Yes
In ISI Web of Science:Yes
Volume:26
Page Range:pp. 139-149
ISSN:1367-5788
Status:Published
Keywords:Vehicle Dynamics Control, Disturbance Observer, Parameter Space Method, Robust Control
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Transport
HGF - Program Themes:V SH - Verbesserung der Sicherheit im Verkehr (old)
DLR - Research area:Transport
DLR - Program:V SH - Verbesserung der Sicherheit im Verkehr
DLR - Research theme (Project):V - ViFa (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: elib DLR-Beauftragter
Deposited On:12 Nov 2007
Last Modified:14 Jan 2010 18:10

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