H/sup /spl infin// controller design for automatic steering of vehicles with modeled time delays

An H/sup /spl infin// controller is designed for automatic steering of vehicles. In this study the main objective is to keep the vehicle's center of gravity close to the center of the lane despite small variations in the speed of the vehicle. A generic sensor/actuator pair is assumed for the vehicle: the measured output is the offset signal at a look-ahead point, and the control input is the steering angle generated by a typical motor. Due to software limitations there exists a fixed time delay in the actuator model of this system. The H/sup /spl infin// controller is designed using Youla parameterization, coprime and inner/outer factorizations, and the Nevanlinna-Pick interpolation technique. The performance of this controller is tested by simulating the feedback system under several different road conditions.