Robust Automatic Steering Control for Look - Down Reference
نویسندگان
چکیده
| This paper describes a robust control design for automatic steering of passenger cars. Previous studies 1{3] showed that reliable automatic driving at highway speed may not be achieved under practical conditions with look-down reference systems which use only one sensor at the front bumper to measure the lateral displacement of the vehicle from the lane reference. An additional lateral displacement sensor is added here at the tail bumper to solve the automatic steering control problem. The control design is performed stepwise: First, an initial controller is determined using the parameter space approach in an in-variance plane. This controller is then reened to accommodate practical constraints and nally optimized using the multi-objective optimization program MOPS. The performance and robustness of the nal controller was veriied experimentally at California Path in a series of test runs.
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