An optimization approach is used to design a velocity-adaptive, lateral controller to meet requirements pertaining to lateral-position tracking accuracy, robustness, and ride comfort. The resulting nonlinear controller required fullstate feedback and thus an observer, which was nonlinear with velocity, was included. The observer/controller compensator was implemented using a 16-bit microcomputer and evaluated in a laboratory study wherein vehicle lateral dynamics were simulated on an analog computer. Excellent lateral control - close tracking (lateral-position error) less than 0.024 m in curve tracking), a good insensitivity to disturbance forces and probable ride comfort - resulted. The selected control algorithm was realized using some 5 % of the available computation time. Thus the microcomputer could also be employed for other control functions and vital-function monitoring.


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    Title :

    On the optimal design of a vehicle lateral controller


    Additional title:

    Die optimale Auslegung eines observer-controller-Kompensators fuer seitliche Bewegungen eines Elektrofahrzeuges


    Contributors:
    Selim, I. (author) / Fenton, R.E. (author)

    Published in:

    Publication date :

    1984


    Size :

    8 Seiten, 11 Bilder, 13 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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