Cart (Loading....) | Create Account
Close category search window
 

Robust two degree-of-freedom vehicle steering controller design

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Guvenc, B.A. ; Robust Control Group, Inst. of Robotics & Mechatronics, Wessling, Germany ; Bunte, T. ; Odenthal, D. ; Guvenc, L.

Robust steering control based on a specific two degree-of-freedom control structure is used here for improving the yaw dynamics of a passenger car. The usage of an auxiliary-steering actuation system for imparting the corrective action of the steering controller is assumed. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the boundary of the operating domain of the vehicle. The design is carried out by finding the region in controller parameter plane where Hurwitz stability and a mixed-sensitivity frequency-domain constraint are simultaneously satisfied. A velocity-based gain scheduling type implementation is used. Moreover, the steering controller has a fading effect that leaves the low-frequency driving task to the driver, intervening only when necessary. The effectiveness of the final design is demonstrated with linear simulations and nonlinear simulations using a highly realistic model of an actual car.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:12 ,  Issue: 4 )

Date of Publication:

July 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.