Robust prevention of limit cycles for robustly decoupled car steering dynamics

Jürgen Ackermann; Tilman Bünte

Kybernetika (1999)

  • Volume: 35, Issue: 1, page [105]-116
  • ISSN: 0023-5954

Abstract

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Considerable safety benefits are achieved by robustly decoupling the lateral and yaw motions of a car with active steering. Robust unilateral decoupling requires an actuator to generate an additional front wheel steering angle. However, introducing actuators to closed loop systems may cause limit cycles due to actuator saturation and rate limits. Such limit cycles are intolerable w.r.t. safety and comfort. By introducing a simple nonlinear modification of the control law, this paper proposes a remedy to significantly reduce the susceptibility to limit cycles for robustly decoupled car steering dynamics. The robustness of the resulting system w.r.t. the avoidance of limit cycles is investigated for varying operating conditions by combining the parameter space approach and the theory of describing functions.

How to cite

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Ackermann, Jürgen, and Bünte, Tilman. "Robust prevention of limit cycles for robustly decoupled car steering dynamics." Kybernetika 35.1 (1999): [105]-116. <http://eudml.org/doc/33413>.

@article{Ackermann1999,
abstract = {Considerable safety benefits are achieved by robustly decoupling the lateral and yaw motions of a car with active steering. Robust unilateral decoupling requires an actuator to generate an additional front wheel steering angle. However, introducing actuators to closed loop systems may cause limit cycles due to actuator saturation and rate limits. Such limit cycles are intolerable w.r.t. safety and comfort. By introducing a simple nonlinear modification of the control law, this paper proposes a remedy to significantly reduce the susceptibility to limit cycles for robustly decoupled car steering dynamics. The robustness of the resulting system w.r.t. the avoidance of limit cycles is investigated for varying operating conditions by combining the parameter space approach and the theory of describing functions.},
author = {Ackermann, Jürgen, Bünte, Tilman},
journal = {Kybernetika},
keywords = {robust decoupling; steering dynamics; robust decoupling; steering dynamics},
language = {eng},
number = {1},
pages = {[105]-116},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Robust prevention of limit cycles for robustly decoupled car steering dynamics},
url = {http://eudml.org/doc/33413},
volume = {35},
year = {1999},
}

TY - JOUR
AU - Ackermann, Jürgen
AU - Bünte, Tilman
TI - Robust prevention of limit cycles for robustly decoupled car steering dynamics
JO - Kybernetika
PY - 1999
PB - Institute of Information Theory and Automation AS CR
VL - 35
IS - 1
SP - [105]
EP - 116
AB - Considerable safety benefits are achieved by robustly decoupling the lateral and yaw motions of a car with active steering. Robust unilateral decoupling requires an actuator to generate an additional front wheel steering angle. However, introducing actuators to closed loop systems may cause limit cycles due to actuator saturation and rate limits. Such limit cycles are intolerable w.r.t. safety and comfort. By introducing a simple nonlinear modification of the control law, this paper proposes a remedy to significantly reduce the susceptibility to limit cycles for robustly decoupled car steering dynamics. The robustness of the resulting system w.r.t. the avoidance of limit cycles is investigated for varying operating conditions by combining the parameter space approach and the theory of describing functions.
LA - eng
KW - robust decoupling; steering dynamics; robust decoupling; steering dynamics
UR - http://eudml.org/doc/33413
ER -

References

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  1. Ackermann J., Bartlett A., Kaesbauer D., Sienel W., Steinhauser R., Robust control: Systems with uncertain physical parameters, Springer, London 1993 MR1266389
  2. Ackermann J., Bünte T., Automatic car steering control bridges over the driver reaction time, Kybernetika 33 (1997), 61–74, also in Proc. 3rd IEEE Mediterranean Symposium on New Directions in Control and Automation, Limassol 1995, pp. 293–300 (1997) Zbl1043.93537MR1486297
  3. Ackermann J., Bünte T., Sienel W., Jeebe H., Naab K., Driving safety by robust steering control, In: Proc. Internat. Symposium on Advanced Vehicle Control, Aachen 1996 
  4. Duda H., Effects of rate limiting elements in flight control systems – a new PIO criterion, In: Proc. AIAA Guidance, Navigation, and Control Conference, Baltimore 1995 
  5. Gelb A., Velde W. van der, Multiple–Input Describing Functions and Nonlinear System Design, MacGraw–Hill, New York 1968 
  6. Riekert P., Schunck T., 10.1007/BF02086921, Ingenieur Archiv 11 (1940), 210–224 (1940) DOI10.1007/BF02086921
  7. Mitschke M., Dynamik der Kraftfahrzeuge, Vol, C. Springer, Berlin 1990 
  8. Sienel W., Ackermann J., Bünte T., Design and analysis of robust control systems in PARADISE, In: Proc. IFAC Symposium on Robust Control Design, Budapest 1997 

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