SWOV Catalogus


Design of lane-keeping control with steering torque input.
C 33438 (In: C 26095 CD-ROM) /91 / ITRD E829876
Mouri, H. Satoh, S. & Shimakage, M.
In: ITS - Transforming the future : proceedings of the 8th World Congress on Intelligent Transportation Systems ITS, Sydney, Australia, 30 September - 4 October 2001, 18 p.

Samenvatting This paper presents the dynamical modeling and identification of a vehicle in which steering torque is controlled, not the steering angle. A lane-tracking control system has been designed on the basis of H2 control theory. The robustness of this system against the nonlinearity of the vehicle was confirmed by mu-synthesis. The performance and robustness of the controlled vehicle were analyzed experimentally and by computer simulation. The design was tested under actual driving conditions and was found to perform well.
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