Automatic car steering control bridges over the driver reaction time
Robust prevention of limit cycles for robustly decoupled car steering dynamics
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...
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