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Linear and nonlinear controller design for robust automatic steering

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5 Author(s)
Ackermann, J. ; Inst. for Robotics & Syst. Dynamics, German Aerosp. Res. Establ., Oberpfaffenhofen, Germany ; Guldner, J. ; Sienel, W. ; Steinhauser, R.
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For an automatic steering problem of a city bus the reference maneuvers and specifications are introduced. The robustness problem arises from large variations in velocity, mass, and road-tire contact. Two controller structures, both with feedback of the lateral displacement and the yaw rate, are introduced: a linear controller and a nonlinear controller. The controller parameters are first hand-tuned and then refined by performance vector optimization. Both controllers meet all specifications. Their relative merits are analyzed in simulations for four typical driving maneuvers

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Control Systems Technology, IEEE Transactions on  (Volume:3 ,  Issue: 1 )