시간지연제어기법을 이용한 측 방향 미끄러짐 및 요 감쇠 보상 강인 조향 제어

In this paper we treat robust steering control using time delay control for the vehicle dynamics variation due to tire/road contact condition variation and lateral disturbance force due to side wind and yaw disturbance moment due to the difference between left tire's pneumatic pressure and right one's. And we deal with side slip and yaw damping compensation under fast steering at the high speed of vehicle. So we intend that a driver consider only path to go and do not have to consider vehicle dynamics variation, disturbances and undesired side slip and yaw oscillations. From the simulation results, we find out robustness for vehicle dynamics variation and disturbances when using time delay control and we evaluate side slip and yaw damping compensation capability under fast steering at the high speed of vehicle for the three control methods.