Linear and nonlinear controller design for robust automatic steering

Abstract

For an automatic steering problem of a city bus the reference maneuvers and specifications are introduced. The robustness problem arises from large variations in velocity, mass, and road-tire contact. Two controller structures, both with feedback of the lateral displacement and the yaw rate, are introduced: a linear controller and a nonlinear controller. The controller parameters are first hand-tuned and then refined by performance vector optimization. Both controllers meet all specifications. Their relative merits are analyzed in simulations for four typical driving maneuvers.

Multivariable decoupled longitudinal and lateral vehicle control: A model-free design

“…According to the algebraic parameter identification developed in [9], [10], rewrite, if ν = 1, Equation (2) in the operational domain (see, e.g., [26])…”

“…The longitudinal or lateral vehicle control problem has been treated in several ways and in many publications (see, for example, [2], [4], [12], [18], [21], [23], and the references therein). Longitudinal and lateral control moreover were generally treated separately.…”

Adaptive Control Design for Uncertain and Constrained Vehicle Yaw Dynamics

“…and define the system parameters accordingly as discussed in (Ackermann & Sienel, 1993;Ackermann et al, 1995;Mammar, 1996) : where µ is the common road adhesion factor equal to 1 for dry and 5 . 0 for wet road.…”

Empirical Modeling of Steering System for Autonomous Vehicles

“…Automatic steering control of vehicles has been investigated for both autonomous vehicles (AV) [1][2][3] and driver steering assistance [4,5]. Driver steering assistance systems under development include collision avoidance systems, adaptive cruise control, and lane departure avoidance systems.…”

“…The design of an automatic steering system requires a mathematical model that describes the lateral dynamic motion of the vehicle relative to the steering angle input. A variety of lateral dynamic models have been presented [1,[6][7][8]. These models are theoretically derived and are described in the form of nonlinear state equations that include a number of physical parameters.…”