Automatic steering control for lanekeeping manoeuvre: outer-loop and inner-loop control design
by Poh Ping Em, Khisbullah Hudha, Hishamuddin Jamaluddin
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 2, No. 5/6, 2010

Abstract: This paper presents a 9-DOF vehicle model combined with a closed-loop driver model for the purpose of studying vehicle lateral control. The performance is evaluated using predefined trajectory of lanekeeping manoeuvre at constant speed. The driver model is developed to control steering angle and uses lookup table path as reference for the control input. The proposed outer-loop control structure of the driver model is a combination of proportional gain control with a yaw effect adaptive fuzzy logic control. The results show that the proposed outer-loop control structure is capable of improving the Y-axis trajectory error and Y-axis trajectory manoeuvres significantly. Stepper motor model, rack and pinion model, and kinematic model of the steering system are integrated to become an inner-loop subsystem for the stepper motor actuated steering (SMAS) system. The performance of the inner-loop control is evaluated using desired trajectories such as square wave, sawtooth wave, and sine wave. The proposed inner-loop control structure consists of closed-loop positioning control for the stepper motor. The results show that the proposed inner-loop control structure is capable of tracking the desired steering angle position and producing the wheel angle needed by the vehicle model.

Online publication date: Thu, 25-Nov-2010

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Advanced Mechatronic Systems (IJAMECHS):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com