Electrical & Computer Engineering Faculty Publications

Document Type

Article

Publication Date

4-1-1998

Abstract

Vehicle lateral dynamics are affected by vehicle mass, longitudinal velocity, vehicle inertia, and the cornering stiffness of the tires. All of these parameters are subject to variation, even over the course of a single trip. Therefore, a practical lateral control system must guarantee stability, and hopefully ride comfort, over a wide range of parameter changes. This article describes a robust controller that theoretically guarantees stability over a wide range of parameter changes. The performance of the robust controller is then evaluated in simulation as well as on a test vehicle. Test results for experiments conducted on an instrumented track are presented, comparing the robust controller to a PID controller that was tuned on the vehicle.

Publisher

IEEE

Publication Title

IEEE Control Systems Magazine

ISSN

1066-033X

Volume

18

Issue

2

First Page

70

Last Page

76

DOI

10.1109/37.664657

Language (ISO)

English

Sponsorship

IEEE

Keywords

Control systems, automated highways, control system synthesis

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