Experimental results in robust lateral control of highway vehicles
نویسندگان
چکیده
Vehicle lateral dynamics are affected by vehicle mass, longitudinal velocity, vehicle inertia, and the cornerin stiffness of the tires. All of these parameters are su%ject 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. T+ paper describes a robust controller which theoretically guarantees stability over a wide range of parameter changes. The performance of the robust controller is then evaluated in simulation as well as on a test v e hicle. Test results for experiments conducted on an instrumented track are presented, comparing the robust controller to a PJD controller which was tuned on the vehicle.
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The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This report does not constitute a standard, specification, or regulation. Lateral Control for Heavy Vehicles ". This project represents a continuing effort ...
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