Electrical & Computer Engineering Faculty Publications
Document Type
Article
Publication Date
12-13-1995
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, 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.
Publisher
IEEE
Publication Title
Proceedings of the 34th IEEE Conference on Decision and Control
Issue
4
First Page
3572
Last Page
3575
DOI
10.1109/CDC.1995.479140
Language (ISO)
English
Sponsorship
IEEE
Keywords
Control systems, Robust control, Vehicle dynamics
Recommended Citation
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.
