DocumentCode
2150372
Title
Robustly stabilizing PID controllers for car steering systems
Author
Wang, Long ; Ackermann, Jürgen
Author_Institution
Inst. of Robotics & Syst. Dynamics, German Aerosp. Res. Establ., Oberpfaffenhofen, Germany
Volume
1
fYear
1998
fDate
21-26 Jun 1998
Firstpage
41
Abstract
Yaw rate feedback to the front wheel steering angle via a PID controller with positive gains is analyzed. It is shown that oversteering cars in their stable velocity range cannot be made unstable by any such controller. For understeering cars bounds on the vehicle parameters for the possible loss of stability are derived
Keywords
automobiles; control system analysis; feedback; position control; robust control; three-term control; transfer functions; PID controllers; Yaw rate feedback; automobiles; car; oversteering; positive gains; robust control; stability; steering systems; transfer function; understeering; Automatic control; Axles; Control systems; Gravity; Polynomials; Robust control; Steering systems; Three-term control; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1998. Proceedings of the 1998
Conference_Location
Philadelphia, PA
ISSN
0743-1619
Print_ISBN
0-7803-4530-4
Type
conf
DOI
10.1109/ACC.1998.694624
Filename
694624
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