Robust Two Degree-of-Freedom Vehicle Steering Controller Design
Aksun-Güvenc, B. and Bünte, T. and Odenthal, B. and Güvenc L., (2004) Robust Two Degree-of-Freedom Vehicle Steering Controller Design. IEEE Transactions on Control Systems Technology, 12 (4), pp. 627-636. ISSN 1063-6536.
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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.
|Title:||Robust Two Degree-of-Freedom Vehicle Steering Controller Design|
|Journal or Publication Title:||IEEE Transactions on Control Systems Technology|
|In ISI Web of Science:||Yes|
|Page Range:||pp. 627-636|
|Keywords:||vehicle dynamics control, disturbance observer, parameter space method, robust control|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Transport|
|HGF - Program Themes:||V SH - Verbesserung der Sicherheit im Verkehr|
|DLR - Research area:||Transport|
|DLR - Program:||V SH - Verbesserung der Sicherheit im Verkehr|
|DLR - Research theme (Project):||V - ViFa (old)|
|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 18:26|
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