Title :
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
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;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4577-0835-0
