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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: 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)
Additional Information:LIDO-Berichtsjahr=2004,
Title:Automatic Car Steering using Robust Unilateral Decoupling
AuthorsInstitution or Email of Authors
Ackermann, JürgenUNSPECIFIED
Walter, WolfgangUNSPECIFIED
Date:October 2004
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
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 (old)
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:12 Dec 2013 20:02

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