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
Recommended Citation
Abdallah, Chaouki T.; Raymond H. Byrne; and Peter Dorato.
"Experimental results in robust lateral control of highway vehicles."
IEEE Control Systems Magazine
