Title :
Robustly stabilizing PID controllers for car steering systems
Author :
Wang, Long ; Ackermann, Jürgen
Author_Institution :
Inst. of Robotics & Syst. Dynamics, German Aerosp. Res. Establ., Oberpfaffenhofen, Germany
Abstract :
Yaw rate feedback to the front wheel steering angle via a PID controller with positive gains is analyzed. It is shown that oversteering cars in their stable velocity range cannot be made unstable by any such controller. For understeering cars bounds on the vehicle parameters for the possible loss of stability are derived
Keywords :
automobiles; control system analysis; feedback; position control; robust control; three-term control; transfer functions; PID controllers; Yaw rate feedback; automobiles; car; oversteering; positive gains; robust control; stability; steering systems; transfer function; understeering; Automatic control; Axles; Control systems; Gravity; Polynomials; Robust control; Steering systems; Three-term control; Vehicles; Wheels;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.694624
