Robust controller design for automatic vehicle steering

Author

Park, Kyoung Taik ; Kim, Han Me

Author_Institution

Nano Fusion Production Syst. Res. Div., KIMM, Daejeon, South Korea

fYear

2011

fDate

26-29 Oct. 2011

Firstpage

938

Lastpage

940

Abstract

This paper deals with robust steering control of 2-DOF (Degree Of Freedom) bicycle model. 2-DOF bicycle model is specialized model for the steering control of vehicle. When the DOF of real vehicle consider more than 2-DOF, 2-DOF model has many system uncertainties. Therefore, to design the steering controller of vehicle based on 2-DOF model, system uncertainty should be included to the process of controller design. Therefore, to satisfy robustness for system uncertainty, sliding mode controller with variable structure controller is designed. In addition, to evaluate the validity of proposed control scheme, computer simulation is executed.

Keywords

bicycles; control system synthesis; road vehicles; robust control; steering systems; uncertain systems; variable structure systems; automatic vehicle steering; bicycle model; robust controller design; robust steering control; sliding mode controller; system uncertainty; variable structure controller; Bicycles; Computational modeling; Computer simulation; Mathematical model; Robustness; Uncertainty; 2-DOF bicycle model; sliding mode control; system uncertainty; variable structure control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2011 11th International Conference on

Conference_Location

Gyeonggi-do

ISSN

2093-7121

Print_ISBN

978-1-4577-0835-0

Type

conf

Filename

6106356