Robust controller design for automatic vehicle steering

This paper deals with robust steering control of 2-DOF (Degree Of Freedom) bicycle model. 2-DOF bicycle model is specialized model for the steering control of vehicle. When the DOF of real vehicle consider more than 2-DOF, 2-DOF model has many system uncertainties. Therefore, to design the steering controller of vehicle based on 2-DOF model, system uncertainty should be included to the process of controller design. Therefore, to satisfy robustness for system uncertainty, sliding mode controller with variable structure controller is designed. In addition, to evaluate the validity of proposed control scheme, computer simulation is executed.