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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.

Item URL in elib:https://elib.dlr.de/12198/
Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2004,
Title:Automatic Car Steering using Robust Unilateral Decoupling
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ackermann, JürgenUNSPECIFIEDUNSPECIFIED
Walter, WolfgangUNSPECIFIEDUNSPECIFIED
Bünte, TilmanUNSPECIFIEDUNSPECIFIED
Date:October 2004
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
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 (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 (until 2012)
Deposited By: DLR-Beauftragter, elib
Deposited On:21 Feb 2006
Last Modified:31 Jul 2019 19:15

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