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.
Modeling and control of steering system of heavy vehicles for automated highway systems
IEEE/ASME Transactions on Mechatronics ; 9 , 4 ; 609-618
2004
10 Seiten, 25 Quellen
Article (Journal)
English
Automated vehicles for highway operations (automated highway systems)
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