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, as well as ride comfort, over a wide range of parameter changes. This paper describes a robust controller which 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 which was tuned on the vehicle.
Proceedings of the 34th IEEE Conference on Decision and Control
Control systems, Robust control, Vehicle dynamics
Abdallah, Chaouki T.; Raymond H. Byrne; and Peter Dorato. "Experimental results in robust lateral control of highway vehicles." Proceedings of the 34th IEEE Conference on Decision and Control (1995): 3572-3575. doi:10.1109/CDC.1995.479140.