Abstract
A controller was developed to govern the lateral position of a highway-speed vehicle using frequency-weighted coordination of front steering and torque inputs. The MISO design problem was recast as a SISO approach by using a cascaded design technique: the first step determined the relative contribution of each control input as a function of frequency; secondary design steps utilized classical SISO approaches. For the vehicle control problem, the torque steering inputs were designed to act only as high-frequency inputs, while standard front steering was weighted for DC and low-frequency inputs. This controller was then tested on an experimental vehicle system.
Original language | English (US) |
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Pages (from-to) | 7-12 |
Number of pages | 6 |
Journal | Proceedings of the American Control Conference |
Volume | 1 |
DOIs | |
State | Published - 2001 |
Externally published | Yes |
Event | 2001 American Control Conference - Arlington, VA, United States Duration: Jun 25 2001 → Jun 27 2001 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering