Integrated robust controller for vehicle path following

被引：0
作者：
Behrooz Mashadi
Pouyan Ahmadizadeh
Majid Majidi
Mehdi Mahmoodi-Kaleybar
机构：
[1] Iran University of Science and Technology,School of Automotive Engineering
[2] Iran University of Science and Technology,School of Mechanical Engineering
来源：
Multibody System Dynamics | 2015年 / 33卷
关键词：
Vehicle path following; 4WS; DYC; Robust control; -Synthesis;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties.
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页码：207 / 228
页数：21
相关论文
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