Robust stability of pilot-vehicle directional control

The simulation of the pilot-vehicle directional control robustness is presented. The driver is represented by a lead-lag compensator. A two degrees of freedom vehicle model with uncertain parameters is used to describe the vehicle lateral motion. The uncertainty structure of the vehicle parameters are described as “nonlinear” “dependent”. An overbounding set is used to generate a super set of the interval polynomial families for the uncertainty of the vehicle model. The extreme points of the uncertainty bounding set are employed to select a distinguished subset of sixteen Kharitonov vehicles. The associated characteristic polynomial for the driver-vehicle system is obtained for each Kharitonov plant from which a robust stabilizing set of gains is generated provided that it is nonempty using a Routh table. Simulation results show the existence of a set of robust stabilizing gains at 60 Km/h vehicle forward speed but not at 90 Km/h