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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.

Item URL in elib:https://elib.dlr.de/12073/
Document Type:Article
Additional Information: LIDO-Berichtsjahr=2004,
Title:Robust Two Degree-of-Freedom Vehicle Steering Controller Design
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Aksun-Güvenc, B.Istanbul Technical UniversityUNSPECIFIEDUNSPECIFIED
Güvenc L., Istanbul Technical UniversityUNSPECIFIEDUNSPECIFIED
Journal or Publication Title:IEEE Transactions on Control Systems Technology
Refereed publication:Yes
Open Access:No
Gold Open Access:No
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 (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 (until 2012) > Robotic Systems
Deposited By: DLR-Beauftragter, elib
Deposited On:12 Nov 2007
Last Modified:14 Jan 2010 18:26

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