Integrated vehicle control via coordinated steering and wheel torque inputs

Sean N. Brennan, A. Alleyne

Research output: Contribution to journalConference article

10 Citations (Scopus)

Abstract

A controller was developed to govern the lateral position of a highway-speed vehicle using frequency-weighted coordination of front steering and torque inputs. The MISO design problem was recast as a SISO approach by using a cascaded design technique: the first step determined the relative contribution of each control input as a function of frequency; secondary design steps utilized classical SISO approaches. For the vehicle control problem, the torque steering inputs were designed to act only as high-frequency inputs, while standard front steering was weighted for DC and low-frequency inputs. This controller was then tested on an experimental vehicle system.

Original languageEnglish (US)
Pages (from-to)7-12
Number of pages6
JournalProceedings of the American Control Conference
Volume1
StatePublished - Jan 1 2001
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001

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Wheels
Torque
Controllers

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

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Integrated vehicle control via coordinated steering and wheel torque inputs. / Brennan, Sean N.; Alleyne, A.

In: Proceedings of the American Control Conference, Vol. 1, 01.01.2001, p. 7-12.

Research output: Contribution to journalConference article

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