DocumentCode
2349317
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
fYear
1996
fDate
15-18 Sep 1996
Firstpage
361
Lastpage
366
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location
Dearborn, MI
Print_ISBN
0-7803-2975-9
Type
conf
DOI
10.1109/CCA.1996.558790
Filename
558790
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