NDLI: Steering control of high speed vehicles: dynamic look ahead and yaw rate feedback

Content Provider	IEEE Xplore Digital Library
Author	Chieh Chen Han-Shue Tan
Copyright Year	1998
Description	Author affiliation: Dept. of Mech. Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan (Chieh Chen)
Abstract	A popular automatic steering control approach for passenger cars is to decouple the yaw motion from lateral motion by using yaw rate feedback. It will be shown in this paper that by re-defining the control position at a frequency-dependent distance ahead of the vehicle, the yaw dynamics can also be decoupled. The resulting system dynamics with this dynamic look-ahead scheme can be simplified into a double-integrator vehicle dynamics with a constant, open-loop gain. It is further shown in this paper that even though the simplified system dynamics obtained from the dynamic look ahead scheme appears similar to that from the decoupling approach using yaw rate feedback, the hidden (unobservable) dynamics of the closed control loop is fundamentally different.
Starting Page	1025
Ending Page	1030
File Size	581338
Page Count	6
File Format	PDF
ISBN	0780343948
ISSN	01912216
DOI	10.1109/CDC.1998.760831
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-12-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Feedback Automatic control Control systems Vehicle driving Motion control Open loop systems Vehicle safety Automated highways Frequency
Content Type	Text
Resource Type	Article

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