Controller design and analysis for automatic steering of passenger cars

This paper deals with a lateral controller design for active 2WS vehicles in ITS applications. First, the vehicle dynamics for typical lateral maneuvers are rigorously described by Newton's formulation. Next, based on a linear perturbed model, a robust controller via μ (mu)-synthesis is designed. Due to the characteristics of D–K iteration, the resulting high-order controller has to be reduced for implementation. Then the frequency- and time-domain responses of the robust controller are extensively evaluated through numerical simulations. Further, we present performance comparisons between full-order controller and reduced-order controller. Finally, the automated steering control presented here is shown to be robust to the prescribed levels of uncertainty for highway maneuvers.