ROBUST LATERAL CONTROL OF HIGHWAY VEHICLES

Vehicle lateral dynamics are affected by vehicle mass, longitudinal velocity, vehicle inertia, and the cornering stiffness of the tires. All of these parameters are subject to variation, even over the course of a single trip. Therefore, a practical lateral control system must guarantee stability, and hopefully ride comfort, over a wide range of parameter changes. This paper describes a robust controller which theoretically guarantees stability over a wide range of parameter changes. The robust controller is designed using a frequency domain transfer function approach. An uncertainty band in the frequency domain is determined using simulations over the range of expected parameter variations. Based on this bound, a robust controller is designed by solving the Nevalinna-Pick interpolation problem. The performance of the robust controller is then evaluated over the range of parameter variations through simulations.

• Corporate Authors:

  Sandia National Laboratories

  P.O. Box 5800
  Albuquerque, NM  United States  87185
• Authors:
  • Byrne, R H
  • Abdallah, C
• Conference:
  • Intelligent Vehicles Symposium '94
  • Location: Paris, France
  • Date: 1994-10-24 to 1994-10-26
• Publication Date: 1994

Language

• English

Media Info

• Pagination: 7p

Subject/Index Terms

• TRT Terms: Force; Frequency allocation; Intelligent vehicles; Stability analysis; Steering; Vehicle weight
• Uncontrolled Terms: Lateral loads; Longitudinal forces
• Old TRIS Terms: Vehicle mass
• Subject Areas: Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 00713648
• Record Type: Publication
• Report/Paper Numbers: SAND-94-2048C,, CONF-9410180-1
• Files: TRIS
• Created Date: Nov 15 1995 12:00AM