Citation

You SS, Kim HS. Proc. Inst. Mech. Eng. Pt. D J. Automobile Eng. 2001; 215(1): 31-43.

Copyright

(Copyright © 2001, Institution of Mechanical Engineers, Publisher SAGE Publishing)

DOI

10.1243/0954407011525449

PMID

unavailable

Abstract

In this paper, lateral controllers are designed for the automatic steering of vehicles. The vehicle dynamics is derived for lateral motions of highway driving. To cope with various uncertainties, robust control synthesis using H∞-μ methodology is presented for a car moving along a curved path. A controller reduction technique is also introduced for implementation. The simulation tests reveal that the resulting lateral controller possesses the inherent advantages that are robust to mixed realcomplex uncertainties for typical driving manoeuvres. Finally, it can be concluded that the proposed control approach can significantly improve the stability and performance of an active car steering system.

Language: en