On the use of robust design methods in vehicle controller design

Anna Soffia Hauksdottir*, Guðlaug Sigurðardottir

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

A robustness-based methodology for designing an automated vehicle longitudinal controller is presented. The resulting longitudinal controller, which is intended for point-following operations, is applied to velocity-dependent (slowly varying) automobile dynamics. The results obtained effectively demonstrate how robust design methods may be applied to this class of dynamics. Further, similar approaches might be taken to controller designs for vehicles under different operating modes, e.g., under car-following operations. The design consists of a cascade compensator, which is selected to achieve small tracking errors, and an observer/controller compensator. Kharitonov-related robustness methods are used to design a fixed (constant coefficient) observer/controller, such that the resulting closed-loop pole-clusters are confined to an acceptable area of the s-plane.

Original languageEnglish
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages3113-3118
Number of pages6
ISBN (Print)0879425652, 9780879425654
DOIs
Publication statusPublished - 1991
EventProceedings of the 1991 American Control Conference - Boston, MA, USA
Duration: 26 Jun 199128 Jun 1991

Publication series

NameProceedings of the American Control Conference
Volume3
ISSN (Print)0743-1619

Conference

ConferenceProceedings of the 1991 American Control Conference
CityBoston, MA, USA
Period26/06/9128/06/91

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