Title :
A robust optimal lateral vehicle control strategy
Author :
Pham, Hung A. ; Hedrick, J.K.
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
A novel lateral control strategy, which clearly partitions the anticipation and compensation tasks to achieve a satisfactory trade-off between tracking and ride quality, is presented. Drawing from classical linear quadratic and sliding mode methods, this design offers robust tracking of road profiles with curvature discontinuities. Simulation results using a detailed 24-state vehicle model are presented for a range of environmental operating conditions
Keywords :
compensation; linear quadratic control; road vehicles; robust control; tracking; variable structure systems; 24-state vehicle model; anticipation; classical linear quadratic method; compensation; curvature discontinuities; environmental operating conditions; road profiles tracking; robust optimal lateral vehicle control strategy; sliding mode methods; tracking/ride quality trade-off; Acceleration; Automatic control; Error correction; Open loop systems; Optimal control; Radar tracking; Road vehicles; Robust control; Robustness; Shape control;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.558790
