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This paper proposes a robust switching control for vehicle steering input. This control is constructed from a robust switching two-PID control to correct the lateral displacement and yaw angle of the vehicle. The controllers are based on LMI-theory stabilizing optimal and on linear time-invariant models of the vehicle, obtained around its nominal operating point. The different gains of both PID controllers...
Lateral control of autonomous vehicle is investigated. The vehicle lateral dynamics is described with the previously researched state space model in terms of position and orientation error with respect to the road, and approximated by a Tanagi-Sugeno (T-S) fuzzy model with time-varying parameters. The system is stabilized by an optimal fuzzy state feedback compensator based on the parallel distributed...
In this study, a nonlinear electric power steering (EPS) system dynamic model based on road disturbance and torque sensor noise is investigated. In this paper, a new method of determining assist coefficient is proposed to obtain good driverpsilas feel, which is only relative to vehicle velocity. Evaluation indexes and an augmented system combined with the state space model of EPS are obtained. Hinfin...
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