Robust control prevents car skidding
Robust control prevents car skidding
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DOI：
10.1109/37.588073
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发表时间：
1997-06
影响因子：
5.7
通讯作者：
J. Ackermann
中科院分区：
文献类型：
--
作者：
J. Ackermann
讨论了汽车转向动力学鲁棒单向解耦系统。其效果是驾驶员不必太关心干扰衰减。对干扰力矩的重要快速反应是由自动反馈系统完成的。横摆动态不再干扰驾驶员的路径跟随任务。安全性的优势已在测试车辆的实验中得到证明。通过经验改进，我们修改了控制器，使其在干扰后的前0.5秒内保持鲁棒解耦优势，然后将转向权限逐渐返回给驾驶员。
The author discusses a system of robust unilateral decoupling of car steering dynamics. Its effect is that the driver has to concern himself much less with disturbance attenuation. The important quick reaction to disturbance torques is done by the automatic feedback system. The yaw dynamics no longer interfere with the path-following task of the driver. The safety advantages have been demonstrated in experiments with a test vehicle. By empirical improvements, we have modified the controller such that it preserves the robust decoupling advantages for the first 0.5 seconds after a disturbance and then returns the steering authority gradually back to the driver.