This paper presents modeling, analysis, and controller design of the steering subsystem of heavy vehicles as a subsystem of vehicle lateral control system for the automated highway systems. A physical model of the steering subsystem is derived where the hydraulic power assist unit is modeled as a family of static nonlinear boost curves. Based on open-loop frequency tests and analysis of the physical model structure and its dynamical characteristics, a nominal second order linear model of the steering subsystem is obtained. Then, a linear robust loop-shaping controller is designed to provide a good tracking performance of the closed-loop dynamics of the steering subsystem for varying gain cross over frequencies which is a result of the nonlinear characteristics of the hydraulic power assist. The controller has been successfully incorporated as an inner-loop controller into the nested lateral control architecture for autonomous driving and its efficacy has been demonstrated experimentally.


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    Titel :

    Modeling and control of steering system of heavy vehicles for automated highway systems


    Beteiligte:
    Tai, Meihua (Autor:in) / Hingwe, Pushkar (Autor:in) / Tomizuka, M. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2004


    Format / Umfang :

    10 Seiten, 25 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





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