LINEAR AND NONLINEAR CONTROLLER-DESIGN FOR ROBUST AUTOMATIC STEERING

For an automatic steering problem of a city bus the reference maneuvers and specifications are introduced, The robustness problem arises from large variations in velocity, mass, and road-tire contact, Two controller structures, both with feedback of the lateral displacement and the yaw rate, are introduced: a linear controller and a nonlinear controller, The controller parameters are first hand-tuned and then refined by performance vector optimization. Both controllers meet all specifications. Their relative merits are analyzed in simulations for four typical driving maneuvers.