Controller design and analysis for automatic steering of passenger cars |
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Affiliation: | 1. Department of Control Systems and Informatics, ITMO University, St. Petersburg, Russia;7. Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, NO-7491, Norway;71. Laboratory “Control of Complex Systems”, Institute for Problems of Mechanical Engineering, St. Petersburg, Russia |
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Abstract: | 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. |
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