Robust Control for Automatic Steering

Robust control problems in automatic steering are due to the wide range of velocity, mass and road conditions under which such vehicles operate. In earlier design studies and road tests for a bus it has been shown that it is possible to design a fixed gain controller such that the automatic steering operates satisfactorily over the entire range of parameters. In the present paper it is shown that the performance of such a robust automatic steering system can be considerably improved by the addition of a gyro measuring the yaw rate and feeding it back into the controller.