Active steering for intelligent vehicles using advanced control synthesis
by Sam-Sang You, Hyeung-Sik Choi, Hwan-Seong Kim, Tae-Woo Lim, Seok-Kwon Jeong
International Journal of Vehicle Design (IJVD), Vol. 42, No. 3/4, 2006

Abstract: This paper considers the design of an active steering controller of an intelligent vehicle for general lane change manoeuvres. First, we present a unified formulation of lateral vehicle dynamics. Next, the design method includes the 2-DOF H loop-shaping control scheme for lane change manoeuvres, in the face of co-prime factorisation perturbations. Furthermore, the controller has been reduced to a reasonable order before real implementation. The resulting controller is then evaluated in both frequency- and time-domains. Finally, it is shown that the presented controller provides excellent performance over a wide range of simulated manoeuvring conditions.

Online publication date: Fri, 21-Jul-2006

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