The robust controller design for lateral control of vehicles

The LQG/LTR controller is a robust and stable control, which is systematic method with a view of engineering. The H/sup /spl infin// scheme is adopted for the design of the controller to reduce the effects of the disturbances. In this paper, we develop an algorithm that decides the distance and directions between the guideline that is made by a series of magnets and MR sensors of vehicle. LQG/LTR and H/sup /spl infin// controller design of lateral control system for an automobile is developed with 3 DOF (degree-of-freedom) model. The performance has been compared for the employed two types of controllers via computed simulations. The results show that the H/sup /spl infin// controller provides more robustness property for the disturbances and lower control input.