Linear and nonlinear controller design for robust automatic steering

  title={Linear and nonlinear controller design for robust automatic steering},
  author={J{\"u}rgen Ackermann and J{\"u}rgen Guldner and Wolfgang Sienel and Reinhold Steinhauser and Vadim I. Utkin},
  journal={IEEE Trans. Contr. Sys. Techn.},
For an automatic steering problem of a city bus the reference maneuvers and specifications are introduced. The robustness problem arises from large variations in velocity, mass, and road-tire contact. Two controller structures, both with feedback of the lateral displacement and the yaw rate, are introduced: a linear controller and a nonlinear controller. The controller parameters are first hand-tuned and then refined by performance vector optimization. Both controllers meet all specifications… CONTINUE READING
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