Electrical & Computer Engineering Faculty Publications
Document Type
Article
Publication Date
10-24-1994
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 paper describes a robust controller which theoretically guarantees stability over a wide range of parameter changes. The robust controller is designed using a frequency domain transfer function approach. An uncertainty band in the frequency domain is determined using simulations over the range of expected parameter variations. Based on this bound, a robust controller is designed by solving the Nevanlinna-Pick interpolation problem. The performance of the robust controller is then evaluated over the range of parameter variations through simulations.
Publisher
IEEE
Publication Title
Proceedings of the Intelligent Vehicles' 94 Symposium
ISSN
0-7803-2135-9
First Page
375
Last Page
380
DOI
10.1109/IVS.1994.639547
Language (ISO)
English
Sponsorship
IEEE
Keywords
Control systems, Frequency domain analysis, Nevanlinna-Pick interpolation problem
Recommended Citation
Abdallah, Chaouki T. and Raymond H. Byrne. "Robust lateral control of highway vehicles." Proceedings of the Intelligent Vehicles' 94 Symposium (1994): 375-380. doi:10.1109/IVS.1994.639547.
