Robust two degree-of-freedom add-on controller design for automatic steering

A robust 2-DOF add-on controller design based on the disturbance observer is presented in this paper for improved performance in vehicle automatic steering. The application example is the benchmark problem on automatic steering of a city bus with large variations in mass and speed and for which the...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2002-01, Vol.10 (1), p.137-148
Main Authors: Guvenc, B.A., Guvenc, L.
Format: Article
Language:English
Subjects:
Actuators
Adaptive control
Applied sciences
Automatic control
Cities and towns
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Exact sciences and technology
Feedback
Humans
Process control. Computer integrated manufacturing
Road vehicles
Robust control
Vehicle dynamics
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Summary:A robust 2-DOF add-on controller design based on the disturbance observer is presented in this paper for improved performance in vehicle automatic steering. The application example is the benchmark problem on automatic steering of a city bus with large variations in mass and speed and for which the reference maneuvers and specifications are available in the literature. The analytical formulation of the compensator is presented, followed by evaluation and demonstration of the enhanced model regulation and disturbance rejection properties achieved by its use. Improved steering dynamics can be achieved using yaw rate feedback without the need for a yaw rate sensor. Noting that the steering angle rate actuator saturation forms a major limitation of performance, especially in the presence of the integrating actuator used in the city bus example, the performance enhancement due to the disturbance observer-based add-on compensator is investigated in the presence of actuator saturation. Finally, a disturbance feedforward-based add-on compensator is also presented for well-defined reference trajectories like the entering a bus stop bay maneuver, enabling preview.
ISSN:1063-6536
1558-0865
DOI:10.1109/87.974347