Robust two degree-of-freedom add-on controller design for automatic steering

A robust 2-DOF add-on controller design based on the disturbance observer is presented in this paper for improved performance in vehicle automatic steering. The application example is the benchmark problem on automatic steering of a city bus with large variations in mass and speed and for which the reference maneuvers and specifications are available in the literature. The analytical formulation of the compensator is presented, followed by evaluation and demonstration of the enhanced model regulation and disturbance rejection properties achieved by its use. Improved steering dynamics can be achieved using yaw rate feedback without the need for a yaw rate sensor. Noting that the steering angle rate actuator saturation forms a major limitation of performance, especially in the presence of the integrating actuator used in the city bus example, the performance enhancement due to the disturbance observer-based add-on compensator is investigated in the presence of actuator saturation. Finally, a disturbance feedforward-based add-on compensator is also presented for well-defined reference trajectories like the entering a bus stop bay maneuver, enabling preview.

[1]  Masayoshi Tomizuka,et al.  Zero Phase Error Tracking Algorithm for Digital Control , 1987 .

[2]  Wolfgang Sienel,et al.  Robust Control for Automatic Steering , 1990, 1990 American Control Conference.

[3]  Yoichi Hori,et al.  Robust speed control of DC servomotors using modern two degrees-of-freedom controller design , 1991 .

[4]  Andrew Bartlett,et al.  Robust Control: Systems with Uncertain Physical Parameters , 1993 .

[5]  K. Srinivasan,et al.  Friction compensation and evaluation for a force control application , 1994 .

[6]  Vadim I. Utkin,et al.  A robust nonlinear control approach to automatic path tracking of a car , 1994 .

[7]  Vadim I. Utkin,et al.  Linear and nonlinear controller design for robust automatic steering , 1995, IEEE Trans. Control. Syst. Technol..

[8]  Jiro Terada,et al.  Angular Rate Sensor for Automotive Application , 1995 .

[9]  J. Z. Xia,et al.  Precision tracking control of non-minimum phase systems with zero phase error , 1995 .

[10]  W. F. Powers,et al.  The role of electronic controls for future automotive mechatronic systems , 1996 .

[11]  Jürgen Guldner,et al.  Development of an automated steering vehicle based on roadway magnets-a case study of mechatronic system design , 1999 .

[12]  Carl J. Kempf,et al.  Disturbance observer and feedforward design for a high-speed direct-drive positioning table , 1999, IEEE Trans. Control. Syst. Technol..

[13]  Hongtei Eric Tseng,et al.  The development of vehicle stability control at Ford , 1999 .

[14]  Levent Guvenc,et al.  Closed loop pneumatic position control using discrete time model regulation , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[15]  Levent Guvenc,et al.  Optimal precision tracking control of discrete time nonminimum phase systems , 1999, 1999 European Control Conference (ECC).

[16]  T. Bunte,et al.  Robust two degree of freedom vehicle steering controller design , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).