The robust controller design for lateral control of vehicles

Author

Eom, Sang In ; Kim, Eun Joo ; Shin, Taek Young ; Lee, Man Hpng ; Harashima, Fumio

Author_Institution

Sch. of Mech. Eng., Pusan Nat. Univ., South Korea

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

570

Abstract

The LQG/LTR controller is a robust and stable control, which is systematic method with a view of engineering. The H^∞ 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^∞ 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^∞ controller provides more robustness property for the disturbances and lower control input.

Keywords

H^∞ control; automobiles; control system synthesis; linear quadratic Gaussian control; motion control; robust control; sensors; 3 DOF model; H^∞ controller design; LQG/LTR controller; MR sensors; automobile control system; linear quadratic Gaussian; robust controller design; stable control; vehicle lateral control; Automobiles; Automotive engineering; Computational modeling; Control system synthesis; Control systems; Guidelines; Magnetic sensors; Magnets; Robust control; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225157

Filename

1225157