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Automatic Car Steering using Robust Unilateral Decoupling
Ackermann, Jürgen and Walter, Wolfgang and Bünte, Tilman (2004) Automatic Car Steering using Robust Unilateral Decoupling. In: Proceedings. Intern. Conf. on Advances in Vehicle Control and Safety, 2004-10-28 - 2004-10-31, Genoa (Italy).
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Abstract
Abstract: In this paper a steering controller is derived using robust unilateral decoupling control. By this method automatic car steering can be split into two subtasks: a) good lane tracking of a point mass for stepwise change of the curvature of the lane reference and for lateral force disturbances and b) good yaw stabilization in the presence of yaw torque disturbances. In the design process the track following controller and the controller stabilizing the yaw rate are designed separately. A Daimler Benz City Bus O 305 used in the Prometheus program and a Pontiac 6000 STE Sedan used in the PATH program give the practical background. In the latter case with higher velocities gain scheduling by the velocity is used. Simulations for these two cars illustrate the advantages of the developed structure.
| Document Type: | Conference or Workshop Item (Paper) | ||||||||
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| Additional Information: | LIDO-Berichtsjahr=2004, | ||||||||
| Title: | Automatic Car Steering using Robust Unilateral Decoupling | ||||||||
| Authors: |
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| Date: | October 2004 | ||||||||
| Journal or Publication Title: | Proceedings | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | No | ||||||||
| Status: | Published | ||||||||
| Keywords: | x | ||||||||
| Event Title: | Intern. Conf. on Advances in Vehicle Control and Safety | ||||||||
| Event Location: | Genoa (Italy) | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 2004-10-28 - 2004-10-31 | ||||||||
| 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 - MetroFa (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics | ||||||||
| Deposited By: | elib DLR-Beauftragter | ||||||||
| Deposited On: | 21 Feb 2006 | ||||||||
| Last Modified: | 14 Jan 2010 18:38 |
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