Yaw disturbance attenuation by robust decoupling of car steering

被引：33

作者：

Ackermann, J

Bunte, T

机构：

[1] Inst. fur Robotik und Systemdynamik, Deutsche Forsch. Anst. Luft-und R., Oberpfaffenhofen

来源：

CONTROL ENGINEERING PRACTICE | 1997年 / 5卷 / 08期

关键词：

automotive control; decoupling problems; robust control; disturbance rejection; sensitivity functions;

D O I：

10.1016/S0967-0661(97)00106-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robust decoupling of the lateral and yaw motions of a car has been achieved by feedback of the integrated yaw rate into front wheel steering. In the present paper the yaw disturbance attenuation is analyzed for a generic single-track vehicle model. The frequency limit, up to which yaw disturbances are attenuated, is calculated. For specific vehicle data, it is shown that this control law significantly reduces the influence of yaw disturbances on yaw rate and side-slip angle for low frequencies. This safety advantage is experimentally verified for mu-split braking. Copyright (C) 1997 Elsevier Science Ltd.

引用

页码：1131 / 1136

页数：6