Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle

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Abstract

This paper proposes guidelines for controller design for steer-by-wire vehicles with the inclusion of non-linear tire behavior. For the nominal vehicle model, the velocity dependency of the yaw dynamics is removed. By using an H approach, bounds on the closed loop sensitivity are presented. From these bounds guidelines for the controller design are derived. Using a validated multi-body vehicle model, it is shown that the yaw dynamics are stabilized for an extreme manoeuvre.

Original languageEnglish
Title of host publicationAdvanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16
PublisherCRC Press/Balkema
Pages405-410
Number of pages6
ISBN (Print)9781315265285
Publication statusPublished - 1 Jan 2017
Event13th International Symposium on Advanced Vehicle Control (AVEC 2016) - Munich University of Applied Sciences, Lothstraße 64, 80335 Munich, Munich, Germany
Duration: 13 Sep 201616 Sep 2016
Conference number: 13
http://www.avec16.com/

Conference

Conference13th International Symposium on Advanced Vehicle Control (AVEC 2016)
Abbreviated titleAVEC 2016
CountryGermany
CityMunich
Period13/09/1616/09/16
Internet address

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van der Sande, T., Zegelaar, P., Besselink, I., & Nijmeijer, H. (2017). Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle. In Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16 (pp. 405-410). CRC Press/Balkema.