A robust optimal lateral vehicle control strategy

摘要

A novel lateral control strategy, which clearly partitions theanticipation and compensation tasks to achieve a satisfactory trade-offbetween tracking and ride quality, is presented. Drawing from classicallinear quadratic and sliding mode methods, this design offers robusttracking of road profiles with curvature discontinuities. Simulationresults using a detailed 24-state vehicle model are presented for arange of environmental operating conditions