Robust lateral control of highway vehicles

Conference · Mon Aug 01 04:00:00 EDT 1994

OSTI ID:10176277

Byrne, R H ^[1]; Abdallah, C ^[2]

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1. Sandia National Labs., Albuquerque, NM (United States)
2. New Mexico Univ., Albuquerque, NM (United States). EECE Dept.

Vehicle lateral dynamics are affected by vehicle mass, longitudinal velocity, vehicle inertia, and the cornering stiffness of the tires. All of these parameters are subject to variation, even over the course of a single trip. Therefore, a practical lateral control system must guarantee stability, and hopefully ride comfort, over a wide range of parameter changes. This paper describes a robust controller which theoretically guarantees stability over a wide range of parameter changes. The robust controller is designed using a frequency domain transfer function approach. An uncertainty band in the frequency domain is determined using simulations over the range of expected parameter variations. Based on this bound, a robust controller is designed by solving the Nevanlinna-Pick interpolation problem. The performance of the robust controller is then evaluated over the range of parameter variations through simulations.

• Research Organization: Sandia National Labs., Albuquerque, NM (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 10176277
• Report Number(s): SAND--94-2048C; CONF-9410180--1; ON: DE94017404; BR: GB0103012
• Country of Publication: United States
• Language: English

Related Subjects

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AUTOMOBILES
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MATHEMATICAL MODELS
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TRANSFER FUNCTIONS