Lateral dynamics and robust control synthesis for automated car steering

Abstract

In this paper, lateral controllers are designed for the automatic steering of vehicles. The vehicle dynamics is derived for lateral motions of highway driving. To cope with various uncertainties, robust control synthesis using H 2 -í methodology is presented for a car moving along a curved path. A controller reduction technique is also introduced for implementation. The simulation tests reveal that the resulting lateral controller possesses the inherent advantages that are robust to mixed realcomplex uncertainties for typical driving manoeuvres. Finally, it can be concluded that the proposed control approach can signi cantly improve the stability and performance of an active car steering system.