Steering control based on a two-level driver model: experimental validation and robustness tests

摘要: In this article we study a two-level driver model composed of one anticipatory and compensatory control. The control, executed in an open loop, is based mainly on the standard linear equations for lateral dynamics vehicle. closed uses N PID controllers correction deviation, other yaw angle However, each pair synthesized bicycle (or around operating point represented by value longitudinal velocity) using Ziegler-Nichols oscillation method. different are managed switch. We introduce time delay to correct deviation. conclude validating testing robustness relation two vehicle models: parameter-varying nonlinear four-wheel model. Note that experimental data used here were obtained from Peugeot 307 laboratory developed INRETS-MA.