Application of Model-Based Predictive and Robust Loop Shaping Control to Automatic Car Steering
| Authors: | Nathan Zambou, RWTH Aachen University, Germany
Bollig Alexander, RWTH Aachen University, Germany
Abel Dirk, RWTH Aachen University, Germany
Siedersberger Karl Heinz, Audi AG I/EF-56, Germany
Müller Karin, Audi AG I/EF-56, Germany |
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| Topic: | 7.1 Automotive Control |
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| Session: | Vehicle Dynamics Control II |
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| Keywords: | Automotive Control, MPC, Robust Control, Quantitative Feedback Theory (QFT),Vehicle Dynamics, Automatic Steering, Steering Angle Rate Control |
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Abstract
The automatic steering assistance system presented in this paper takesadvantage of the technique of Model-based predictive control (MPC) of systemswith hard input constraints in order to compute the appropriate steering angleof the front tires. In addition the Quantitative Feedback Theory (QFT) is usedto find a robust controller that maintains the key properties of the loop forthe implementation of the Model-based Predictive Controller input, despiteuncertainty, i.e. stability, tracking performance and disturbance rejection.The procedure involves deriving a steering angle rate from the front tireangle and applying it to the steering column. The feasibility of the proposedassistance system is evaluated in a simulation using Matlab/Simulink and a testvehicle. The results demonstrate the effectiveness of the automatic steeringsystem in lane keeping and yaw dynamic improvement.
